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Caliper: A universal robot simulation framework for tendon-driven robots


Wittmeier, Steffen; Jäntsch, Michael; Dalamagkidis, Konstantinos; Rickert, Markus; Marques, Hugo; Knoll, Alois (2011). Caliper: A universal robot simulation framework for tendon-driven robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 25 September 2011 - 30 September 2011, 1063-1068.

Abstract

The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization. Today, a variety of open-source and commercial simulators exist for this purpose for mobile and industrial robots. However, existing simulation engines still lack support for the emerging class of tendon-driven robots. In this paper, an innovative simulation framework for the simulation of tendon-driven robots is presented. It consists of a generic physics simulator capable of utilizing CAD robot models and a set of additional tools for simulation control, data acquisition and system investigation. The framework software architecture has been designed using component-based development principles to facilitate the framework extension and customization. Furthermore, for inter-component communication, the operating-system and programming language independent Common Object Request Broker Architecture (CORBA) [1] has been used which simplifies the integration of the framework into existing software environments.

Abstract

The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization. Today, a variety of open-source and commercial simulators exist for this purpose for mobile and industrial robots. However, existing simulation engines still lack support for the emerging class of tendon-driven robots. In this paper, an innovative simulation framework for the simulation of tendon-driven robots is presented. It consists of a generic physics simulator capable of utilizing CAD robot models and a set of additional tools for simulation control, data acquisition and system investigation. The framework software architecture has been designed using component-based development principles to facilitate the framework extension and customization. Furthermore, for inter-component communication, the operating-system and programming language independent Common Object Request Broker Architecture (CORBA) [1] has been used which simplifies the integration of the framework into existing software environments.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Event End Date:30 September 2011
Deposited On:07 Feb 2012 07:56
Last Modified:07 Dec 2017 11:26
Publisher:IEEE
Series Name:Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN:2153-0858
ISBN:978-1-61284-454-1
Publisher DOI:https://doi.org/10.1109/IROS.2011.6094455
Related URLs:http://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=16071
Other Identification Number:merlin-id:3875

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