Abstract
This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors and actuators has been implemented. Furthermore, the simulator follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To demonstrate the general approach, this paper presents multiple examples of different robots which have been simulated so far.
The Deutsche Forschungsgemeinschaft supports this work through the priority program “Cooperating teams of mobile robots in dynamic environments”.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Zagal, J.C., Ruiz-del-Solar, J.: UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 34–45. Springer, Heidelberg (2005)
Smith, R.: Open Dynamics Engine - ODE (2005), http://www.ode.org
Go, J., Browning, B., Veloso, M.: Accurate and flexible simulation for dynamic, vision-centric robots. In: Proceedings of International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 2004) (2004)
Go, J., Browning, B., Veloso, M.: Carnegie Mellon UberSim Project (2004), http://www-2.cs.cmu.edu/robosoccer/ubersim/
Koenig, N., Howard, A.: Gazebo - 3D multiple robot simulator with dynamics (2004), http://playerstage.sourceforge.net/gazebo/gazebo.html
Gerkey, B., Vaughan, R.T., Howard, A.: The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. In: Proceedings of the 11th International Conference on Advanced Robotics, Coimbra, Portugal, pp. 317–323 (2003)
Michel, O.: Cyberbotics Ltd. - WebotsTM: Professional Mobile Robot Simulation 1, 39–42 (2004)
Cyberbotics Ltd.: Cyberbotics Webots (2005), http://www.cyberbotics.com/products/webots/
Röfer, T.: Strategies for using a simulation in the development of the Bremen Autonomous Wheelchair. In: Zobel, R., Moeller, D. (eds.) Simulation-Past, Present and Future, Society for Computer Simulation International, pp. 460–464 (1998)
Röfer, T., Laue, T., Burkhard, H.D., Hoffmann, J., Jüngel, M., Göhring, D., Lötzsch, M., Düffert, U., Spranger, M., Altmeyer, B., Goetzke, V., Stryk, O.v., Brunn, R., Dassler, M., Kunz, M., Risler, M., Stelzer, M., Thomas, D., Uhrig, S., Schwiegelshohn, U., Dahm, I., Hebbel, M., Nisticó, W., Schumann, C., Wachter, M.: GermanTeam RoboCup 2004 (2004), only available online: http://www.robocup.de/germanteam/GT2004.pdf
Ghazi-Zahedi, K., Laue, T., Röfer, T., Schöll, P., Spiess, K., Twickel, A., Wischmann, S.: Rosiml - robot simulation markup language (2005), http://www.tzi.de/spprobocup/RoSiML.html
Kurlbaum, J., Laue, T., Lück, B., Mohrmann, B., Poloczek, M., Reinecke, D., Riemenschneider, T., Röfer, T., Simon, H., Visser, U.: Bremen Small Multi-Agent Robot Team (B-Smart) Team Description for RoboCup 2004. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276. Springer, Heidelberg (2005)
Mandel, C., Hübner, K., Vierhuff, T.: A Demonstrator for Cognitive Aspects in Service Robotics. In: XXVII Annual Meeting of the Cognitive Science Society (submitted, 2005)
German Team: German Team web site (2005), http://www.germanteam.org
Röfer, T.: SimRobot Website (2005), http://www.tzi.de/simrobot
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Laue, T., Spiess, K., Röfer, T. (2006). SimRobot – A General Physical Robot Simulator and Its Application in RoboCup. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds) RoboCup 2005: Robot Soccer World Cup IX. RoboCup 2005. Lecture Notes in Computer Science(), vol 4020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780519_16
Download citation
DOI: https://doi.org/10.1007/11780519_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-35437-6
Online ISBN: 978-3-540-35438-3
eBook Packages: Computer ScienceComputer Science (R0)