Abstract
Generic simulation platforms such as player/stage are an essential tool in mobile robotics, but until now no similar platforms have been available for the field of self-reconfigurable robots. We here present a generic simulation platform for modular, self-reconfigurable robots: the unified simulator for self-reconfigurable robots (USSR). USSR is based on a physics engine, allowing simulation of both self-reconfiguration and dynamic interaction with the environment. The simulator is implemented as a framework that provides numerous components that can be combined to form new or existing modular robots, allowing easy experimentation: USSR currently includes support for the ATRON, Odin, and M-TRAN modular robots.
Keyword: Physics engine,Unified simulator,Dynamic interaction,mobile robots,Control system analysis computing,Modular robot,Self-reconfigurable robot
Keyword: Physics engine,Unified simulator,Dynamic interaction,mobile robots,Control system analysis computing,Modular robot,Self-reconfigurable robot
Original language | English |
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Title of host publication | International Conference on Intelligent Robots and Systems |
Publisher | IEEE |
Publication date | 2008 |
Pages | 870-876 |
ISBN (Print) | 978-1-4244-2057-5 |
DOIs | |
Publication status | Published - 2008 |
Externally published | Yes |
Event | International Conference on Intelligent Robots and Systems - Nice, France Duration: 22 Sep 2008 → 26 Sep 2008 http://iros2008.inria.fr/ |
Conference
Conference | International Conference on Intelligent Robots and Systems |
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Country/Territory | France |
City | Nice |
Period | 22/09/2008 → 26/09/2008 |
Internet address |