This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter provides facilities for good quality rendering, physics simulation, networking, highly versatile scripting language and a powerful visual editor. Our simulator extends USARSim features by allowing for the simulation and control of legged robots and it introduces a multi-view functionality for multi-robot support. We successfully tested the simulator capabilities by mimicking a virtual environment with up to five network-controlled legged robots, like AIBO ERS-7 and QRIO. © Springer-Verlag Berlin Heidelberg 2007.

A 3D simulator of multiple legged robots based on USARSim / Marco, Zaratti; Fratarcangeli, Marco; Iocchi, Luca. - 4434:(2007), pp. 13-24. ((Intervento presentato al convegno 10th International RoboCup Symposium tenutosi a Bremen; Germany nel JUN 19-20, 2006 [10.1007/978-3-540-74024-7_2].

A 3D simulator of multiple legged robots based on USARSim

FRATARCANGELI, Marco;IOCCHI, Luca
2007

Abstract

This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter provides facilities for good quality rendering, physics simulation, networking, highly versatile scripting language and a powerful visual editor. Our simulator extends USARSim features by allowing for the simulation and control of legged robots and it introduces a multi-view functionality for multi-robot support. We successfully tested the simulator capabilities by mimicking a virtual environment with up to five network-controlled legged robots, like AIBO ERS-7 and QRIO. © Springer-Verlag Berlin Heidelberg 2007.
10th International RoboCup Symposium
Multi-robot support; Robot simulators;
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A 3D simulator of multiple legged robots based on USARSim / Marco, Zaratti; Fratarcangeli, Marco; Iocchi, Luca. - 4434:(2007), pp. 13-24. ((Intervento presentato al convegno 10th International RoboCup Symposium tenutosi a Bremen; Germany nel JUN 19-20, 2006 [10.1007/978-3-540-74024-7_2].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/208208
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