CALIPER: A universal robot simulation framework for tendon-driven robots
The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization. Today, a variety of open-source and commercial simulators exist for this purpose for mobile and industrial robots. However, e...
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| Vydáno v: | 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems s. 1063 - 1068 |
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| Hlavní autoři: | , , , , , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
| Vydáno: |
IEEE
01.09.2011
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| Témata: | |
| ISBN: | 1612844545, 9781612844541 |
| ISSN: | 2153-0858 |
| On-line přístup: | Získat plný text |
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| Shrnutí: | The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization. Today, a variety of open-source and commercial simulators exist for this purpose for mobile and industrial robots. However, existing simulation engines still lack support for the emerging class of tendon-driven robots. In this paper, an innovative simulation framework for the simulation of tendon-driven robots is presented. It consists of a generic physics simulator capable of utilizing CAD robot models and a set of additional tools for simulation control, data acquisition and system investigation. The framework software architecture has been designed using component-based development principles to facilitate the framework extension and customization. Furthermore, for inter-component communication, the operating-system and programming language independent Common Object Request Broker Architecture (CORBA) [1] has been used which simplifies the integration of the framework into existing software environments. |
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| ISBN: | 1612844545 9781612844541 |
| ISSN: | 2153-0858 |
| DOI: | 10.1109/IROS.2011.6094455 |