SimRobot - A General Physical Robot Simulator and Its Application in RoboCup

@inproceedings{Laue2005SimRobotA,
  title={SimRobot - A General Physical Robot Simulator and Its Application in RoboCup},
  author={Tim Laue and Kai Spiess and Thomas R{\"o}fer},
  booktitle={RoboCup},
  year={2005}
}
This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors and actuators has been implemented. Furthermore, the simulator follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and… 
SimRobot – Development and Applications ?
TLDR
SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space, is described, which includes a physical model which is based on rigid body dynamics.
A Simulation Based Architecture for the Development of an Autonomous All Terrain Vehicle
In this work we describe a simulation environment for an autonomous all-terrain mobile robot. To allow for extensive test and verification of the high-level perception, planning, and trajectory
Automatic Parameter Optimization for a Dynamic Robot Simulation
TLDR
A multi-staged approach for automatically optimizing a large set of different simulation parameters through an evolutionary algorithm which uses the difference between the recorded data of a real robot and the behavior of the simulation as fitness function.
From simulation to reality: migration of humanoid robot control
TLDR
This thesis investigated how to create a mechanism that provides a smooth gradient to transfer humanoid robot control from simulated robot to real robot, and developed motions in the simulations, with the help of Machine Learning, and transferred them to real robots successfully.
ORCA - a physics-based robotics simulation environment that supports distributed systems development
TLDR
ORCA is presented, a versatile, physics-based robotics simulator that integrates a server and a simulation environment into one package that makes the sharing of resources a seamless task, promotes code re-use, and facilitates the integration of individual software modules.
A 3D Simulator of Multiple Legged Robots Based on USARSim
TLDR
A flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second) and it introduces a multi-view functionality for multi-robot support.
Dynamic simulation of legged robots using a physics engine
TLDR
In the presented application an iterative solver is supported by analytical equations of the dynamics and software modules for collision detection, environment modeling and visualization and development and verification of control algorithms before their implementation on the real robot.
Tailored Real-Time Simulation for Teams of Humanoid Robots
TLDR
The simulator framework MuRoSimF (Multi-Robot-Simulation-Framework) is presented which allows the flexible and transparent integration of different simulation algorithms with the same robot model to deal with an increasing number of robots per team.
Simulation of a Tele-operated Task under Human-Robot Shared Control
TLDR
Simulation of a tele-operated shared controlled robot task that is integrated with a generic simulator of RADOE (Robot Application Development and Operating Environment) and a simulation of a drawing task on the surface of a sphere is presented.
Simulating Vehicle Kinematics with SimVis3D and Newton
TLDR
An application of the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine for simulating the drive system of a bucket excavator as real world scenario is concluded.
...
...

References

SHOWING 1-10 OF 18 REFERENCES
Accurate and flexible simulation for dynamic, vision-centric robots
  • Jared Go, B. Browning, M. Veloso
  • Computer Science
    Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, 2004. AAMAS 2004.
  • 2004
TLDR
An open-source simulation framework, UberSim, is presented and its ability to simulate vision-centric, balancing robots in a realistic fashion is demonstrated, focusing on accurate simulation with high-frequency control loops and flexible configuration of robot structure and parameters via a client-side definition language.
UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League
TLDR
It is believed that the use of a highly realistic simulator might speed up the progress in the four legged league by allowing more people to participate in the challenge.
Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation
TLDR
Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment, and enable you to transfer your control programs to several commercially available real mobile robots.
Strategies for Using a Simulation in the Development of the Bremen Autonomous Wheelchair
TLDR
The major idea of this paper is not to try to build a perfect simulation of the target system from scratch, but to let the simulation evolve during the experiments with the real system.
The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems
TLDR
Current usage of Player and Stage is reviewed, and some interesting research opportunities opened up by this infrastructure are identified.
Bremen Small Multi-Agent Robot Team ( B-Smart ) Team Description for RoboCup 2004
TLDR
The current state and further development of the B-Smart Small Size team since RoboCup 2003 as well as the goals of the team for the next competition are described.
Cyberbotics Ltd
  • - WebotsTM: Professional Mobile Robot Simulation. 1
  • 2004
Rosiml - robot simulation markup language (2005) http://www.tzi.de/spprobocup/RoSiML.html
  • 2005
Gazebo - 3D multiple robot simulator with dynamics (2004) http://playerstage.sourceforge.net/gazebo/gazebo.html
  • 2004
Open Dynamics Engine -ODE (2005) www.ode.org
  • Open Dynamics Engine -ODE (2005) www.ode.org
...
...