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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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
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Zusammenfassung: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.
ISBN:1612844545
9781612844541
ISSN:2153-0858
DOI:10.1109/IROS.2011.6094455