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Accurate Robot Simulation

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Nehmzow, Ulrich, Kerr, D and Billings, S.A. (2009) Accurate Robot Simulation. In: Towards Autonomous Robotic Systems (TAROS 2009), Intelligent Systems Research Centre, University of Ulster, Magee, BT48 7JL, Northern Ireland. IIntelligent Systems Research Centre, University of Ulster, Magee, BT48 7JL, Northern Ireland. 7 pp. [Conference contribution]

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URL: http://isrc.ulster.ac.uk/images/stories/publications/report-series/TAROS_2009.pdf

Abstract

Robot simulators are valuable tools for researchers to develop control code in a fast and efficient manner without spending time setting up physical experiments. Most simulators, however, do not model the real world accurately. As a consequence, when a program is run on a real robot it may behave differently from when run in simulation. In this paper we present a method of developing a robot simulator that models the operation of a real robot in a real environment accurately, using real robot data and system identification to construct the simulator’s model.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:20479
Deposited By:Dr Dermot Kerr
Deposited On:15 Nov 2011 11:04
Last Modified:15 Nov 2011 11:04

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