This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter provides facilities for good quality rendering, physics simulation, networking, highly versatile scripting language and a powerful visual editor. Our simulator extends USARSim features by allowing for the simulation and control of legged robots and it introduces a multi-view functionality for multi-robot support. We successfully tested the simulator capabilities by mimicking a virtual environment with up to five network-controlled legged robots, like AIBO ERS-7 and QRIO. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Zaratti, M., Fratarcangeli, M., & Iocchi, L. (2007). A 3D simulator of multiple legged robots based on USARSim. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4434 LNAI, pp. 13–24). Springer Verlag. https://doi.org/10.1007/978-3-540-74024-7_2
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