XPERSim: A Simulator for Robot Learning by Experimentation
- In this paper, we present XPERSim, a 3D simulator built on top of open source components that enables users to quickly and easily construct an accurate and photo-realistic simulation for robots of arbitrary morphology and their environments. While many existing robot simulators provide a good dynamics simulation, they often lack the high quality visualization that is now possible with general-purpose hardware. XPERSim achieves such visualization by using the Object-Oriented Graphics Rendering Engine 3D (Ogre) engine to render the simulation whose dynamics are calculated using the Open Dynamics Engine (ODE). Through XPERSim’s integration into a component-based software integration framework used for robotic learning by experimentation, XPERSIF, and the use of the scene-oriented nature of the Ogre engine, the simulation is distributed to numerous users that include researchers and robotic components, thus enabling simultaneous, quasi-realtime observation of the multiple-camera simulations.
| Document Type: | Conference Object |
|---|---|
| Language: | English |
| Author: | Iman Awaad, Beatriz León |
| Parent Title (English): | Carpin, Noda et al. (Eds.): Simulation, Modeling, and Programming for Autonomous Robots. First International Conference, SIMPAR 2008 Venice, Italy, November 3-6, 2008. Proceedings. |
| First Page: | 5 |
| Last Page: | 16 |
| ISBN: | 978-3-540-89075-1 |
| DOI: | https://doi.org/10.1007/978-3-540-89076-8_5 |
| Publication year: | 2008 |
| Departments, institutes and facilities: | Fachbereich Informatik |
| Dewey Decimal Classification (DDC): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
| Entry in this database: | 2015/04/02 |
