A unified simulator for Self-Reconfigurable Robots

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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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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 languageEnglish
Title of host publicationInternational Conference on Intelligent Robots and Systems
Publication date2008
ISBN (Print)978-1-4244-2057-5
Publication statusPublished - 2008
Externally publishedYes
EventInternational Conference on Intelligent Robots and Systems - Nice, France
Duration: 22 Sept 200826 Sept 2008


ConferenceInternational Conference on Intelligent Robots and Systems
Internet address

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