Accurate Robot Simulation

Ulrich Nehmzow; D Kerr; S.A. Billings

Accurate Robot Simulation

Ulrich Nehmzow
, D Kerr
, S.A. Billings

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Unknown Host Publication
Publisher	Intelligent Systems Research Centre, Ulster University
Pages	203-209
Number of pages	7
Publication status	Published (in print/issue) - 2009
Event	Towards Autonomous Robotic Systems (TAROS 2009) - Intelligent Systems Research Centre, University of Ulster, Magee, BT48 7JL, Northern Ireland Duration: 1 Jan 2009 → …

Conference

Conference	Towards Autonomous Robotic Systems (TAROS 2009)
Period	1/01/09 → …

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@inproceedings{8954ea3ab30a40f99e7cccbba04c9560,

title = "Accurate Robot Simulation",

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{\textquoteright}s model.",

author = "Ulrich Nehmzow and D Kerr and S.A. Billings",

year = "2009",

language = "English",

pages = "203--209",

booktitle = "Unknown Host Publication",

publisher = "Intelligent Systems Research Centre, Ulster University",

address = "Northern Ireland",

note = "Towards Autonomous Robotic Systems (TAROS 2009) ; Conference date: 01-01-2009",

}

TY - GEN

T1 - Accurate Robot Simulation

AU - Nehmzow, Ulrich

AU - Kerr, D

AU - Billings, S.A.

PY - 2009

Y1 - 2009

N2 - 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.

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.

M3 - Conference contribution

SP - 203

EP - 209

BT - Unknown Host Publication

PB - Intelligent Systems Research Centre, Ulster University

T2 - Towards Autonomous Robotic Systems (TAROS 2009)

Y2 - 1 January 2009

ER -

Accurate Robot Simulation

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