Sim: A Light-Weight Robot Simulator for Modular Robots

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Sim: A Light-Weight Robot Simulator for Modular Robots

Popis výsledku v původním jazyce

Physical simulation is frequently used in robotics, as it allows evaluation of control strategies or planning techniques in situations, where experiments with real robots are time consuming or limited due to power resources or reliability issues. Such anexample is locomotion generation for modular robots formed from many small robotic modules. To find a suitable locomotion for such a complex robot, evolutionary principles can be used, which requires to conduct many experiments. To speed up this process, a robot simulator can be employed. In this paper, a novel, light-weight open-source simulator for the modular robots is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization. This allows to run it on e.g. on computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and power

Název v anglickém jazyce

Sim: A Light-Weight Robot Simulator for Modular Robots

Popis výsledku anglicky

Physical simulation is frequently used in robotics, as it allows evaluation of control strategies or planning techniques in situations, where experiments with real robots are time consuming or limited due to power resources or reliability issues. Such anexample is locomotion generation for modular robots formed from many small robotic modules. To find a suitable locomotion for such a complex robot, evolutionary principles can be used, which requires to conduct many experiments. To speed up this process, a robot simulator can be employed. In this paper, a novel, light-weight open-source simulator for the modular robots is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization. This allows to run it on e.g. on computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and power

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Workshop Proceedings on Unconventional Approaches to Robotics

ISBN

978-1-4673-5642-8

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

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Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Karlsruhe

Datum konání akce

6. 5. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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