This paper presents the software framework established to facilitate cloud-hosted robotsimulation. The framework addresses the challenges associated with conducting a task-oriented and real-timerobot competition, th...
详细信息
This paper presents the software framework established to facilitate cloud-hosted robotsimulation. The framework addresses the challenges associated with conducting a task-oriented and real-timerobot competition, the Defense Advanced Research Projects Agency (DARPA) Virtual robotics Challenge (VRC), designed to mimic reality. The core of the framework is the Gazebo simulator, a platform to simulate robots, objects, and environments, as well as the enhancements made for the VRC to maintain a high fidelity simulation using a high degree of freedom and multisensor robot. The other major component used is the CloudSim tool, designed to enhance the automation of robotics simulation using existing cloud technologies. The results from the VRC and a discussion are also detailed in this work. Note to Practitioners-Advances in robotsimulation, cloud hosted infrastructure, and web technology have made it possible to accurately and efficiently simulate complex robots and environments on remote servers while providing realistic data streams for human-in-the-loop robot control. This paper presents the software and hardware frameworks established to facilitate cloud-hosted robotsimulation, and addresses the challenges associated with conducting a task-oriented robot competition designed to mimic reality. The competition that spurred this innovation was the VRC, a precursor to the DARPA robotics Challenge, in which teams from around the world utilized custom human-robot interfaces and control code to solve disaster response-related tasks in simulation. Winners of the VRC received both funding and access to Atlas, a humanoid robot developed by Boston Dynamics. The Gazebo simulator, an open source and high fidelity robot simulator, was improved upon to met the needs of the VRC competition. Additionally, CloudSim was created to act as an interface between users and the cloud-hosted simulations. As a result of this work, we have achieved automated deployment of cloud resources for
A simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilitie...
详细信息
A simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a realrobotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.
暂无评论