Abstract
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.
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© 2007 Springer-Verlag Berlin Heidelberg
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Zaratti, M., Fratarcangeli, M., Iocchi, L. (2007). A 3D Simulator of Multiple Legged Robots Based on USARSim. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds) RoboCup 2006: Robot Soccer World Cup X. RoboCup 2006. Lecture Notes in Computer Science(), vol 4434. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74024-7_2
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DOI: https://doi.org/10.1007/978-3-540-74024-7_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74023-0
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