A unified simulator for Self-Reconfigurable Robots

David Johan Christensen; David Brandt; Kasper Stoy; Ulrik Pagh Schultz

doi:10.1109/IROS.2008.4650757

A unified simulator for Self-Reconfigurable Robots

David Johan Christensen, David Brandt, Kasper Stoy, Ulrik Pagh Schultz

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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

Original language	English
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	https://doi.org/10.1109/IROS.2008.4650757
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
Country	France
City	Nice
Period	22/09/2008 → 26/09/2008
Internet address	http://iros2008.inria.fr/

Bibliographical note

Copyright 2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Access to Document

10.1109/IROS.2008.4650757

04650757Final published version, 1.41 MB

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Cite this

@inproceedings{24237151b75d45569e2332f1c5e391b8,

title = "A unified simulator for Self-Reconfigurable Robots",

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",

author = "Christensen, {David Johan} and David Brandt and Kasper Stoy and Schultz, {Ulrik Pagh}",

note = "Copyright 2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.; International Conference on Intelligent Robots and Systems, IROS 2008 ; Conference date: 22-09-2008 Through 26-09-2008",

year = "2008",

doi = "10.1109/IROS.2008.4650757",

language = "English",

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AU - Christensen, David Johan

AU - Brandt, David

AU - Stoy, Kasper

AU - Schultz, Ulrik Pagh

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PY - 2008

Y1 - 2008

N2 - 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

AB - 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

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