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...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:2011 IEEE/RSJ International Conference on Intelligent Robots and Systems S. 1063 - 1068
Hauptverfasser: Wittmeier, S., Jantsch, M., Dalamagkidis, K., Rickert, M., Marques, H. G., Knoll, A.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.09.2011
Schlagworte:
Computational modeling
Data models
Engines
Open source software
Physics
Robots
Solid modeling
ISBN:1612844545, 9781612844541
ISSN:2153-0858
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
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.
Author_xml – sequence: 1
  givenname: S.
  surname: Wittmeier
  fullname: Wittmeier, S.
  email: wittmeis@in.tum.de
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
– sequence: 2
  givenname: M.
  surname: Jantsch
  fullname: Jantsch, M.
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
– sequence: 3
  givenname: K.
  surname: Dalamagkidis
  fullname: Dalamagkidis, K.
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
– sequence: 4
  givenname: M.
  surname: Rickert
  fullname: Rickert, M.
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
– sequence: 5
  givenname: H. G.
  surname: Marques
  fullname: Marques, H. G.
  organization: Artificial Intell. Lab., Univ. of Zurich, Zurich, Switzerland
– sequence: 6
  givenname: A.
  surname: Knoll
  fullname: Knoll, A.
  organization: Fac. of Inf., Tech. Univ. Munchen, Munich, Germany
BookMark eNo1kNFKwzAYhSNOcJt9APEmL9CaP23SxLsxpisMJlOvR5L-hWqbSNopvr2TzavDBx_nwJmRiQ8eCbkFlgEwfV_tti8ZZwCZZLoohLggiS4VSODqD9Ulmf1DISZkykHkKVNCXZNkGN4ZY8BKrbSckvVysameV7sHuqAH335hHExHY7BhpEPbHzoztsHTJpoev0P8oE2IdERfB5_W8ej7kzzckKvGdAMm55yTt8fV63KdbrZP1XEkbaFQYyoUWtWgNsIJJQsAidI6XWuruTVN2RhX1mDLmksnmWOY21xzB4hcIziWz8ndqbdFxP1nbHsTf_bnI_Jft8dRsQ
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2011.6094455
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Xplore
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Xplore
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Physics
EISBN 9781612844558
1612844553
9781612844565
1612844561
EndPage 1068
ExternalDocumentID 6094455
Genre orig-research
GroupedDBID 6IE
6IF
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ACGFS
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IJVOP
M43
OCL
RIE
RIL
RIO
RNS
ID FETCH-LOGICAL-i148t-58eb8fe9a5c5864116e6bc9d9b92baf7fac7d1b7d26c60c0e3b392c1ee29e1c03
IEDL.DBID RIE
ISBN 1612844545
9781612844541
ISICitedReferencesCount 15
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000297477501063&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2153-0858
IngestDate Wed Aug 27 02:51:42 EDT 2025
IsDoiOpenAccess false
IsOpenAccess true
IsPeerReviewed false
IsScholarly true
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i148t-58eb8fe9a5c5864116e6bc9d9b92baf7fac7d1b7d26c60c0e3b392c1ee29e1c03
OpenAccessLink https://mediatum.ub.tum.de/doc/1287210/document.pdf
PageCount 6
ParticipantIDs ieee_primary_6094455
PublicationCentury 2000
PublicationDate 2011-Sept.
PublicationDateYYYYMMDD 2011-09-01
PublicationDate_xml – month: 09
  year: 2011
  text: 2011-Sept.
PublicationDecade 2010
PublicationTitle 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublicationTitleAbbrev IROS
PublicationYear 2011
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001079896
ssj0000669785
Score 1.8175013
Snippet The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design...
SourceID ieee
SourceType Publisher
StartPage 1063
SubjectTerms Computational modeling
Data models
Engines
Open source software
Physics
Robots
Solid modeling
Title CALIPER: A universal robot simulation framework for tendon-driven robots
URI https://ieeexplore.ieee.org/document/6094455
WOSCitedRecordID wos000297477501063&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1NS8NAEF1q0YMXta34zR48ujbpZr-8ldJSQWqpH_RWdjcTKGgiTervdzdJq4IXb0kIJOzCzpuZ994gdG1BMU3BkEBoSyLJLVEcgCgmvTEuBVsq5F4fxGQi53M1baCbrRYGAEryGdz6y7KXH2d27UtlXe5ykYixHbQjBK-0Wtt6igudauPbUtZXAqFkOZ7LBTVKHLKQXtfF_XkcOdhQ2z1t7sO64xkGqns_e3yqzD3rD_6avFIGntHB_375EHW-FXx4uo1NR6gBaQvt_zAfbKG9kvxp8zYaD_ouvx_O7nAfryuihn7Dq8xkBc6X7_WAL5xseFzYAV3sa-dZSuKVPy6rl_MOehkNnwdjUk9YIEuXBhWESTAyAaWZZZJHYciBG6tiZVTP6EQk2oo4NCLuccsDGwA1Dk_ZEKCnILQBPUbNNEvhBGFILGXUANMOYQVUaw2-Y6mEsXEgTHyK2n51Fh-VicaiXpizvx-f-_zZc6M9mesCNYvVGi7Rrv0slvnqqtz5L60zp_c
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1NS8NAEB1qVdSL2lb8dg8eXd002U3WWxFLi7WWWqW3sruZQEEb6Ye_390krQpevCUhkLAsO2_ezHsDcGlQcuWjpixUhgaRMFQKRCp55IxxfTSZQu61E3a70XAoeyW4WmlhEDFrPsNrd5nV8uPULBxVdiNsLhJwvgbrPAjqLFdrrRgVGzzl0rklY1hYKKNsQJcNaz612CJyyi7hTuTAAofC8Gl57xU1T4_Jm3b_6Tm39yw--Wv2ShZ6mrv_--k9qH1r-EhvFZ32oYSTCuz8sB-swGbW_mlmVWjdNWyGf9-_JQ2yyFs11BuZpjqdk9n4vRjxRZJlJxexUJc49jyd0HjqDsz85VkNXpr3g7sWLWYs0LFNhOaUR6ijBKXihkci8DyBQhsZSy3rWiVhokwYezqM68IIZhj62iIq4yHWJXqG-QdQnqQTPASCifG5r5Eri7GYr5RCV7OUoTYxC3V8BFW3OqOP3EZjVCzM8d-PL2CrNXjsjDrt7sMJbOdUrmvtOoXyfLrAM9gwn_PxbHqe7YIvn-WrQA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2011+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems&rft.atitle=CALIPER%3A+A+universal+robot+simulation+framework+for+tendon-driven+robots&rft.au=Wittmeier%2C+S.&rft.au=Jantsch%2C+M.&rft.au=Dalamagkidis%2C+K.&rft.au=Rickert%2C+M.&rft.date=2011-09-01&rft.pub=IEEE&rft.isbn=9781612844541&rft.issn=2153-0858&rft.spage=1063&rft.epage=1068&rft_id=info:doi/10.1109%2FIROS.2011.6094455&rft.externalDocID=6094455
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2153-0858&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2153-0858&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2153-0858&client=summon