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
Hlavní autoři: Wittmeier, S., Jantsch, M., Dalamagkidis, K., Rickert, M., Marques, H. G., Knoll, A.
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.09.2011
Témata:
Computational modeling
Data models
Engines
Open source software
Physics
Robots
Solid modeling
ISBN:1612844545, 9781612844541
ISSN:2153-0858
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Abstract 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.
AbstractList 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.
Author Wittmeier, S.
Jantsch, M.
Dalamagkidis, K.
Knoll, A.
Rickert, M.
Marques, H. G.
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  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
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  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
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  organization: Artificial Intell. Lab., Univ. of Zurich, Zurich, Switzerland
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  givenname: A.
  surname: Knoll
  fullname: Knoll, A.
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
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SubjectTerms Computational modeling
Data models
Engines
Open source software
Physics
Robots
Solid modeling
Title CALIPER: A universal robot simulation framework for tendon-driven robots
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