An approach to close the gap between simulation and real robots

Authors:
Yuan Xu;Heinrich Mellmann;Hans-Dieter Burkhard
Affiliations:
Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Berlin, Germany;Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Berlin, Germany;Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Berlin, Germany
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

Numerous simulators have been developed over the years to assist robotics research in the development, testing, and evaluation. Nevertheless, there is still a big gap between the simulation and the reality. This makes it difficult to transfer methods and code. The 3D simulator -- SimSpark is developed and used by a big community of AI researchers in RoboCup. But up to now there are only few applications to real robots. In this paper, we discuss the general possibilities how the SimSpark simulator can be used to support research in cognitive robotics and present applications on the humanoid robot Nao. As a result of our investigation we have developed a unified team playing both in Simulation League and Standard Platform League in RoboCup.