Simulation in Robotics Pablo Iñigo Blasco [email protected] Computer Architecture and Technology Department University of Seville NanoJornadas Imaginática - 2010 Talk Contents ● Quick Review of types of robots and their related disciplines ● Robotic Simulation Technologies ● 3D Simulation Technologies Samples: Gazebo, Webots, OpenRave Reflexions about simulation importance in robotics ● What do we have to know to build a complete new robot from scratch? Is it possible? ● How many scientific disciplines are involved in Robotics? Industrial robots ● Perform repetitive tasks following a step sequence ● Typically articulated arms with 3 or more freedom degrees ● Not much understanding of the surrounding world KUKA Robot Some related disciplines ● Physics ● Mechanics ● Automatic Control Theory ● Micro-controllers ● Data Acquisition ● Digital Signal processing ● Real Time Systems Mobile Robots ● Not only perform a sequence of actions ● Better understanding of the surrounding world ● Intelligent Behavior and Learning NAO PR2 Some related disciplines ● Any disciplines of industrial robotics and more: ● Operative Systems ● Communications ● Image Processing ● Concurrent and Distributed Programming ● Software Engineering ● Task Planning ● Logic Reasoning ● Machine Learning ● Multi-Agent system and Emergency ● ... Why Simulation in Robotics? ● It's Easier. No need to understand all disciplines in robotics ● Let focus on a specific problem and develop&test new ideas ● Save time and money ● Experimentation is the base of the science Simulation Technologies for Robotics OpenSource Stage, Gazebo, Pyro, Simbad, OpenSim, UsarSim, Robocode, OpenRave, Breve, Blender, GraspIt, Eyesim Proprietary Webots, Marilou, Cogmaiton, Ms Robotics Studio, Modelica, Robologix, LabView, Simulink, Matlab Robotics Toolkit, EasyRob, RoboLogix Other Robotic Technologies ● Player ● ROS ● JDEc ● OpenRDK ● JADE ● CARMEN ● OROCOS ● YARP Generic 3D Simulators ● Realistic Rendering ● Rigid Bodies Physics simulation ● World Modeling Files ● Sensors and Actuators ● Real Robots Models Gazebo ● OpenSource ● Player Project ● ODE or Bullet Physic Engine ● C++/ C / Python ● Linux ● Custom world describing Format Webots ● Proprietary ● ODE Physic Engine ● C++ / C / Python / Matlab / Java / Urbi ● Windows / Linux / Mac OS ● VRML 2.0 OpenRave ● OpenSource ● Player Project ● ODE or Bullet Physic Engine ● Matlab / Python ● Linux ● Collada World Format Talk Ideas ● Robotic is hard. ● We need to isolate problems and simulation can help us. ● There are many robotic simulators with different and interesting features ● Share Knowledge and collaborate with SCS! Thanks! References ● Michel, O. / Cyberbotics Ltd - WebotsTM: Professional Mobile Robot Simulation, pp. 39-42, International Journal of Advanced Robotic Systems, Volume 1 Number 1 (2004), ISSN 1729-8806 ● Design and Use Paradigms -for Gazebo, An Open-Source Multi-Robot Simulator. by Nathan Koenig, Andrew Howard In IEEE/RSJ International Conference on Intelligent Robots and Systems (2004) ● L. Hugues and N. Bredeche. Simbad: an autonomous robot simulation package for education and research. In Proceedings of The Ninth International Conference on the Simulation of Adaptive Behavior (SAB'06), Rome, Italy, 2006. ● R. Diankov and J. Kuner. Openrave: A planning architecture for autonomous robotics. Technical Report CMU-RI-TR-08-34, Robotics Institute, CMU, 2008. .