SimRobot – a general physical robot simulator and its application in robocup

  • Authors:

  • Tim Laue;Kai Spiess;Thomas Röfer

  • Affiliations:

  • Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen, Bremen, Germany;Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen, Bremen, Germany;Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen, Bremen, Germany

  • Venue:
  • RoboCup 2005
  • Year:
  • 2006

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Abstract

This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors and actuators has been implemented. Furthermore, the simulator follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To demonstrate the general approach, this paper presents multiple examples of different robots which have been simulated so far.