CALIPER: A universal robot simulation framework for tendon-driven robots

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 1063-1068

  Wittmeier, Steffen ^a   Jäntsch, Michael ^a   Dalamagkidis, Konstantinos ^a   Rickert, Markus ^a   Marques, Hugo Gravato ^b   Knoll, Alois ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b UNIVERSITY OF ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COMMERCIAL SIMULATORS; COMPONENT-BASED DEVELOPMENT; CONTROLLER DESIGNS; OPEN-SOURCE; PHYSICS-BASED SIMULATION; PROGRAMMING LANGUAGE; ROBOT MODEL; ROBOT SIMULATIONS; SIMULATION CONTROL; SIMULATION ENGINE; SIMULATION FRAMEWORK; SOFTWARE ENVIRONMENTS; SYSTEM INVESTIGATION; TENDON DRIVEN;

COMMON OBJECT REQUEST BROKER ARCHITECTURE (CORBA); COMPUTER AIDED DESIGN; COMPUTER ARCHITECTURE; COMPUTER PROGRAMMING; COMPUTER SIMULATION; INDUSTRIAL ROBOTS; MACHINE DESIGN; MIDDLEWARE; ROBOTICS; TENDONS;

INTELLIGENT ROBOTS;

EID: 84455168936     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048111     Document Type: Conference Paper

References (42)

1. Common Object Request Broker Architecture CORBA. Object Management Group (OMG). [Online]. Available: http://www.corba.org/
2. S. Wittmeier, G. Song, J. Duffin, and C.-S. Poon, "Pacemakers handshake synchronization mechanism of mammalian respiratory rhythmogenesis." Proc Natl Acad Sci USA, vol. 105, no. 46, pp. 18 000-18 005, Nov 2008.
3. W. Leontief, F. Duchin, and D. B. Szyld, "New Approaches in Economic Analysis," Science, vol. 228, no. 4698, pp. 419-422, 1985.
4. R. Blumhardt, "Fem - crash simulation and optimisation," International Journal of Vehicle Design, vol. 26, no. 4, pp. 331-347, Jan. 2001.
5. J.-J. E. Slotine and W. Li, "On the Adaptive Control of Robot Manipulators," The International Journal of Robotics Research, vol. 6, no. 3, pp. 49-59, 1987.
6. Open Robotics Automation Virtual Environment (OpenRAVE). [Online]. Available: http://www.openrave.programmingvision.com/
7. J. Jackson, "Microsoft robotics studio: A technical introduction,"Robotics Automation Magazine, IEEE, vol. 14, no. 4, pp. 82-87, dec. 2007. (Pubitemid 351314530)
8. N. Koenig and A. Howard, "Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator," in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3, 2004, pp. 2149-2154 vol.3.
9. O. Michel, "Cyberbotics Ltd. Webots TM : Professional Mobile Robot Simulation," Int. Journal of Advanced Robotic Systems, vol. 1, pp. 39-42, 2004.
10. O. Holland and R. Knight, "The anthropomimetic principle," in Proceedings of the AISB06 Symposium on Biologically Inspired Robotics, 2006.
11. H. Marques, M. Jäntsch, S. Wittmeier, O. Holland, C. Alessandro, A. Diamond, M. Lungarella, and R. Knight, "Ecce1: The first of a series of anthropomimetic musculoskeletal upper torsos," in Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, 2010, pp. 391-396.
12. Embodied Cognition In A Compliantly Engineered Robot (ECCEROBOT). [Online]. Available: http://www.eccerobot.eu
13. S. Delp, F. Anderson, A. Arnold, P. Loan, A. Habib, C. John, E. Guendelman, and D. Thelen, "Opensim: Open-source software to create and analyze dynamic simulations of movement," Biomedical Engineering, IEEE Transactions on, vol. 54, no. 11, pp. 1940-1950, 2007. (Pubitemid 350006059)
14. COLLADA - 3D Asset Exchange Schema. Khronos Group. [Online]. Available: http://www.khronos.org/collada/
15. A. L. Ames, D. R. Nadeau, and J. L. Moreland, The VRML 2.0 sourcebook (2nd ed.). New York, NY, USA: John Wiley & Sons, Inc., 1997.
16. M. Kawato, "Internal models for motor control and trajectory planning,"Current Opinion in Neurobiology, vol. 9, no. 6, pp. 718-727, 1999.
17. H. G. Marques and O. Holland, "Architectures for functional imagination,"Neurocomput., vol. 72, no. 4-6, pp. 743-759, 2009.
18. S. Wittmeier, M. Jäntsch, K. Dalamagkidis, and A. Knoll, "Physics-based Modeling of an Anthropomimetic Robot," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, accepted.
19. A. Boeing and T. Bräunl, "Evaluation of real-time physics simulation systems," Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia, pp. 281-288, 2007.
20. M. DeLoura, "Middleware showdown," Game Developer, vol. 8, 2009.
21. Open Dynamics Engine (ODE). [Online]. Available: http://www.ode.org
22. E. Coumans. Bullet Physics Library. Sony Computer Entertainment. [Online]. Available: http://www.bulletphysics.com
23. Havok Physics. Havok Inc. [Online]. Available: http://www.havok.com
24. NVIDIA Physx. NVIDIA. [Online]. Available: http://www.nvidia.com/object/ physx-new.html
25. A. V. Hill, "The heat of shortening and the dynamic constants of muscle," Proceedings of the Royal Society of London. Series B, Biological Sciences, vol. 126, no. 843, pp. pp. 136-195, 1938.
26. Unreal Engine. Epic Games. [Online]. Available: http://www. unrealtechnology.com/
27. CryENGINE. Crytek GmbH. [Online]. Available: http://www.crytek.com/
28. Object-Oriented Graphics Rendering Engine (OGRE). [Online]. Available: http://www.ogre3d.org/
29. Kongsberg Oil & Gas Technologies. Coin3D. [Online]. Available: http://www.coin3d.org
30. Qt - A cross-platform application and UI framework. Nokia Corporation. [Online]. Available: http://qt.nokia.com/products/
31. Physics Abstraction Layer. [Online]. Available: http://pal.sourceforge. net
32. E. Gamma, R. Helm, R. Johnson, and J. M. Vlissides, Design Patterns. Elements of Reusable Object-Oriented Software. Addison-Wesley, 1994.
33. N. Ando, T. Suehiro, and T. Kotoku, A Software Platform for Component Based RT-System Development: OpenRTM-Aist. Springer Berlin/Heidelberg, 2008, vol. 5325.
34. M. Quigley, K. Conley, B. Gerkey, J. Faust, T. B. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, "ROS: an open-source Robot Operating System," in Proc. International Conference on Robotics and Automation, 2009.
35. R. Arnaud and M. C. Barnes, Collada: Sailing the Gulf of 3d Digital Content Creation. AK Peters, Ltd, 2006.
36. COLLADA Document Object Model (DOM). [Online]. Available: http://sourceforge.net/projects/collada-dom/
37. J. Sturm, C. Plagemann, and W. Burgard, "Body schema learning for robotic manipulators from visual self-perception," Journal of Physiology-Paris, vol. 103, no. 3-5, pp. 220-231, 2009, neurorobotics.
38. Log4cpp. [Online]. Available: http://log4cpp.sourceforge.net/
39. Boost C++ Libraries, functions. [Online]. Available: http://www.boost. org/doc/libs/1-43-0/doc/html/function.html
40. Qwt - Qt Widgets for Technical Applications. [Online]. Available: http://qwt.sourceforge.net/
41. C. Szyperski, Component Software: Beyond Object-Oriented Programming. Addison Wesley, 1998.
42. T. Reenskaug, "Thing-model-view-editor - an example from a planningsystem," Xerox PARC, 5 1979.