Accurate Robot Simulation

Ulrich Nehmzow, D Kerr, S.A. Billings

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robot simulators are valuable tools for researchers to develop control code in a fast and efficient manner without spending time setting up physical experiments. Most simulators, however, do not model the real world accurately. As a consequence, when a program is run on a real robot it may behave differently from when run in simulation. In this paper we present a method of developing a robot simulator that models the operation of a real robot in a real environment accurately, using real robot data and system identification to construct the simulator’s model.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages203-209
Number of pages7
Publication statusPublished - 2009
EventTowards Autonomous Robotic Systems (TAROS 2009) - Intelligent Systems Research Centre, University of Ulster, Magee, BT48 7JL, Northern Ireland
Duration: 1 Jan 2009 → …

Conference

ConferenceTowards Autonomous Robotic Systems (TAROS 2009)
Period1/01/09 → …

Fingerprint

Robots
Simulators
Identification (control systems)
Experiments

Cite this

Nehmzow, U., Kerr, D., & Billings, S. A. (2009). Accurate Robot Simulation. In Unknown Host Publication (pp. 203-209)
Nehmzow, Ulrich ; Kerr, D ; Billings, S.A. / Accurate Robot Simulation. Unknown Host Publication. 2009. pp. 203-209
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title = "Accurate Robot Simulation",
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Nehmzow, U, Kerr, D & Billings, SA 2009, Accurate Robot Simulation. in Unknown Host Publication. pp. 203-209, Towards Autonomous Robotic Systems (TAROS 2009), 1/01/09.

Accurate Robot Simulation. / Nehmzow, Ulrich; Kerr, D; Billings, S.A.

Unknown Host Publication. 2009. p. 203-209.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Nehmzow, Ulrich

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AU - Billings, S.A.

PY - 2009

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AB - Robot simulators are valuable tools for researchers to develop control code in a fast and efficient manner without spending time setting up physical experiments. Most simulators, however, do not model the real world accurately. As a consequence, when a program is run on a real robot it may behave differently from when run in simulation. In this paper we present a method of developing a robot simulator that models the operation of a real robot in a real environment accurately, using real robot data and system identification to construct the simulator’s model.

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BT - Unknown Host Publication

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Nehmzow U, Kerr D, Billings SA. Accurate Robot Simulation. In Unknown Host Publication. 2009. p. 203-209