Corpus ID: 202539913

qiBullet, a Bullet-based simulator for the Pepper and NAO robots

  title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
  author={Maxime Busy and Maxime Caniot},
The Pepper and NAO robots are widely used for in-store advertizing and education, but also as robotic platforms for research purposes. Their presence in the academic field is expressed through various publications, multiple collaborative projects, and by being the standard platforms of two different RoboCup leagues. Developing, gathering data and training humanoid robots can be tedious: iteratively repeating specific tasks can present risks for the robots, and some environments can be difficult… Expand
Figaro: A Tabletop Authoring Environment for Human-Robot Interaction
Figaro is introduced, an expressive tabletop authoring environment for mobile robots, inspired by shadow puppetry, that provides designers with a natural, situated representation of human-robot interactions while exploiting the intuitiveness of tabletop and tangible programming interfaces. Expand
RoboCup@Home Education 2020 Best Performance: RoboBreizh, a modular approach
The latest developments that lead the RoboBreizh team to win the RoboCup@Home Education contest are presented, including several modules linked to each other allowing the Pepper robot to understand, act and adapt itself to a local environment. Expand
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A graph-based neural network is utilized to establish a mapping between the latent space and the robot motion space, and this method can retarget motion from human to robot with both efficiency and accuracy. Expand
Kinematic Motion Retargeting via Neural Latent Optimization for Learning Sign Language
  • Haodong Zhang, Weijie Li, +4 authors R. Xiong
  • Computer Science
  • 2021
Motion retargeting from human demonstration to robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from theExpand
Target Reaching Behaviour for Unfreezing the Robot in a Semi-Static and Crowded Environment
This work proposes a robot behavior for a wheeled humanoid robot that complains with social norms for clearing its path when the robot is frozen due to the presence of humans. Expand


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This contribution presents work towards a proper simulation environment for the Pepper platform and focuses on two major topics: seamless integration with the robot»s ecosystem and basic human-robot-interaction capabilities that can foster behavior modeling and functional regression testing. Expand
Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation
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. Expand
Design and use paradigms for Gazebo, an open-source multi-robot simulator
  • N. Koenig, A. Howard
  • Engineering, Computer Science
  • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
  • 2004
Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots. Expand
Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX
New quantitative measures of simulation performance are introduced, focusing on the numerical challenges that are typical for robotics as opposed to multi-body dynamics and gaming, and found that each engine performs best on the type of system it was designed and optimized for. Expand
V-REP: A versatile and scalable robot simulation framework
A versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP, which allows for direct incorporation of various control techniques and renders simulations and simulation models more accessible to a general-public, by reducing the simulation model deployment complexity. Expand
Modular open robots simulation engine: MORSE
The conception principles of the simulator, MORSE, are presented, which gives the possibility to evaluate the algorithms embedded in the software architecture of the robot within which they are to be integrated and some use-case illustrations. Expand
RoboCup@Home: Scientific Competition and Benchmarking for Domestic Service Robots
The concepts and the implementation of the ROBOCUP@HOME initiative as a combination of scientific exchange and competition is presented as an efficient method to accelerate and focus technological and scientific progress in the domain of domestic service robots. Expand
RoboCup: The Robot World Cup Initiative
The Robot World Cup Initiative (R, oboCup) is attempt to foster AI and intelligent rohoties research by providing a standard problem where wide range of technologies especially concerning multi-agentExpand
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This system can learn quadruped locomotion from scratch using simple reward signals and users can provide an open loop reference to guide the learning process when more control over the learned gait is needed. Expand
The Standard Platform League
The Standard Platform League has begun to address a deficiency with the creation of the Drop-in Challenge, where robots from multiple teams will work together, and should force teams to work on multi-agent coordination in more abstract and general terms. Expand