Conference paper
A unified simulator for Self-Reconfigurable Robots
In
2008 Ieee/rsj International Conference on Intelligent Robots and Systems
—
2008, pp. 870-876
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.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2008 |
| Pages: | 870-876 |
| Proceedings: | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| ISBN: | 1424420571 , 142442058X , 9781424420575 and 9781424420582 |
| Types: | Conference paper |
| DOI: | 10.1109/IROS.2008.4650757 |
