HumRoboSim: An Autonomous Humanoid Robot Simulation System

Robot motion simulation is one of the challenging topic both in the character animation and the robotics. In this paper, a simulation system HumRoboSim is introduced. A ´real´ humanoid robot is created in a virtual world considering the dynamics and collision in HumRoboSim. We present a new technique for robot motion generation with the robot dynamics model and constraints within the physical engine. Virtual sensors which provide accurate sensor data are also simulated to aid robot´s attitude control and interaction with environment. We also propose a multi-agent control method which obtains the information from virtual sensors and makes decision to control the robot action. Our simulator could provide users with a convenient interface for manipulation and programming. Theexperimental results show that the proposed robot motion generation method can be successfully applied both in the virtual robot motion animation and the real hardware robot system. And the multiple agent control policy could be applied in similar hardware robot system.