A unified simulator for Self-Reconfigurable Robots

Author

Christensen, David ; Brandt, David ; Stoy, Kasper ; Schultz, Ulrik Pagh

Author_Institution

Modular Robot. Lab., Univ. of Southern Denmark, Odense

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

870

Lastpage

876

Abstract

Generic simulation platforms such as player/stage are an essential tool in mobile robotics, but until now no similar platforms have been available for the field of self-reconfigurable robots. We here present a generic simulation platform for modular, self-reconfigurable robots: the unified simulator for self-reconfigurable robots (USSR). USSR is based on a physics engine, allowing simulation of both self-reconfiguration and dynamic interaction with the environment. The simulator is implemented as a framework that provides numerous components that can be combined to form new or existing modular robots, allowing easy experimentation: USSR currently includes support for the ATRON, Odin, and M-TRAN modular robots.

Keywords

control system analysis computing; mobile robots; dynamic interaction; mobile robot; modular robot; physics engine; self-reconfigurable robot; unified simulator; Adaptation model; Object oriented modeling; Physics; Robots; Solid modeling; Unified modeling language; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650757

Filename

4650757