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Optimized and Reconfigurable Environment for Simulation of Legged Robots

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Automation 2017 (ICA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 550))

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Abstract

The paper presents a reconfigurable simulator of legged robots. The simulator is based on the physics engines which model the motion of rigid bodies. The goal of this research is to design reliable tool for verification new control concepts for various types of legged robots. To this end, the new architecture of robot’s configuration scheme is proposed. The new hierarchical structure of the description files allows to re-use mechanical parts of existing robots and rapidly prototype new mechanical systems. We also propose the optimization method which increases the stability of the simulator. The simulator tuning technique allows to find the set of parameters and reduce the discrepancy between the simulated and the real robot.

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References

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Acknowledgments

D. Belter is supported by the Poznań University of Technology grant DSMK/0154-2016.

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Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland

    Mateusz Spis, Adam Matecki, Patryk Maik, Adam Kurzawa & Dominik Belter

  2. School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK

    Marek Kopicki

Authors
  1. Mateusz Spis
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  2. Adam Matecki
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  3. Patryk Maik
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  4. Adam Kurzawa
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  5. Marek Kopicki
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  6. Dominik Belter
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Corresponding author

Correspondence to Dominik Belter .

Editor information

Editors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Spis, M., Matecki, A., Maik, P., Kurzawa, A., Kopicki, M., Belter, D. (2017). Optimized and Reconfigurable Environment for Simulation of Legged Robots. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_26

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  • DOI: https://doi.org/10.1007/978-3-319-54042-9_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54041-2

  • Online ISBN: 978-3-319-54042-9

  • eBook Packages: EngineeringEngineering (R0)

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