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

Wittmeier, Steffen; Jäntsch, Michael; Dalamagkidis, Konstantinos; Rickert, Markus; Marques, Hugo Gravato; 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. IEEE, 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.

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
Scopus Subject Areas:Physical Sciences > Control and Systems Engineering
Physical Sciences > Software
Physical Sciences > Computer Vision and Pattern Recognition
Physical Sciences > Computer Science Applications
Scope:Discipline-based scholarship (basic research)
Language:English
Event End Date:30 September 2011
Deposited On:07 Feb 2012 07:56
Last Modified:06 Mar 2024 14:06
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
OA Status:Closed
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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