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Software toolkit for modeling, simulation, and control of soft robots

E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez
2017 Advanced Robotics  
(a) Control from inverse simulation of two Fetch platforms stacked for the Soft Robotic Toolkit 2015 competition. (b) Simulation of Flexo (left) and the real robot (right).  ...  He is now the head of DEFROST team focused on new methods and software for soft robot models and control, fast Finite Element Methods, simulation of contact response and other complex mechanical interactions  ... 
doi:10.1080/01691864.2017.1395362 fatcat:23kezgh3zbfk3pph6nponqr5ca

VRKitchen2.0-IndoorKit: A Tutorial for Augmented Indoor Scene Building in Omniverse [article]

Yizhou Zhao, Steven Gong, Xiaofeng Gao, Wensi Ai, Song-Chun Zhu
2022 arXiv   pre-print
With the recent progress of simulations by 3D modeling software and game engines, many researchers have focused on Embodied AI tasks in the virtual environment.  ...  To facilitate the study of indoor scene building methods and their potential robotics applications, we introduce INDOORKIT: a built-in toolkit for NVIDIA OMNIVERSE that provides flexible pipelines for  ...  scene elements and is supported by a wide range of 3D modeling software (e.g.  ... 
arXiv:2206.11887v1 fatcat:oxbtjbq3nreftaxxf2bchuj7sm

OpenGRASP: A Toolkit for Robot Grasping Simulation [chapter]

Beatriz León, Stefan Ulbrich, Rosen Diankov, Gustavo Puche, Markus Przybylski, Antonio Morales, Tamim Asfour, Sami Moisio, Jeannette Bohg, James Kuffner, Rüdiger Dillmann
2010 Lecture Notes in Computer Science  
Simulation is essential for different robotic research fields such as mobile robotics, motion planning and grasp planning.  ...  These aspects include development and testing of new algorithms, modeling of the environments and robots, including the modeling of actuators, sensors and contacts.  ...  It also enables the development of virtual controllers for such models. In this paper we introduce a simulation toolkit specifically focused on robot grasping and manipulation.  ... 
doi:10.1007/978-3-642-17319-6_13 fatcat:w3faywqltfhj3bjcorvcj6sqfy

Framework for online simulation of soft robots with optimization-based inverse model

C. Duriez, E. Coevoet, F. Largilliere, T. Morales-Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt
2016 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control.  ...  The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators or contacts using a unified representation based on Lagrange multipliers.  ...  Fig. 5 . 5 Top: Control from inverse simulation of two Fetch platforms stacked for the Soft Robotic Toolkit 2015 competition. Bottom: Simulation of Flexo (left) and the real robot (right).  ... 
doi:10.1109/simpar.2016.7862384 dblp:conf/simpar/DuriezCLBZSCMGD16 fatcat:nozyrvor25glxn5ub2oltlspue

LOCOBOT - Low Cost Toolkit for Building Robot Co-workers in Assembly Lines [chapter]

Christian Wögerer, Harald Bauer, Martijn Rooker, Gerhard Ebenhofer, Alberto Rovetta, Neil Robertson, Andreas Pichler
2012 Lecture Notes in Computer Science  
LOCOBOT addresses strategic objective -Plug-and-Produce components for adaptive control.  ...  Topic of robotics and LOCOBOT is one of this 5 projects.  ...  Modeling the production World for using the LOCOBOT Toolkit Design your own Low-COst_RoBOT After the modeling of the Production world you are ready to design your own Low COst RoBOT, a modular plug-and-produce  ... 
doi:10.1007/978-3-642-33515-0_45 fatcat:beqez2akrvhqzbemlgfh5klhcq

Matlab Toolbox for Kinematic Analysis and Simulation of Dexterous Robotic Grippers

Swaraj Zodey, Sharad K. Pradhan
2014 Procedia Engineering  
Robot simulators have supported the science of robotics for a long period and have been an indispensable tool for understanding, planning, designing and programming of educational and industrial robots  ...  However, the majority of these tools are specifically designed for serial manipulators and simulation tools for robotic grasping is rather limited e.g Graspit!  ...  The primary contribution of these software packages is the automation and simplification of the robot modeling process which is important for correct robot design and control.  ... 
doi:10.1016/j.proeng.2014.12.342 fatcat:kw4uowrdcncujmaczawdpeq4cm

Setting Out a Software Stack Capable of Hosting a Virtual ROS-based Competition [article]

Nishesh Singh
2021 arXiv   pre-print
Currently, the software has been set out to be used for the Virtual Mars Rover Challenge (VMRC), a competition that focuses on simulating the next generation of Mars rovers and thereby providing the student  ...  The objective of this white paper is to explain the software architecture, installation, usage, maintenance and ease of use which is the singular most important factor in software adoption.  ...  Gazebo [7] is the default ROS simulator, while ROS serves as the interface for the robot. gym-gazebo [17] is a complex piece of software that essentially acts as the OpenAI extension for Gazebo based  ... 
arXiv:2105.10466v3 fatcat:at4i52uopvds3n7t2in7jlpplu

Simulation and Virtual Prototyping of Tangible User Interfaces [article]

Stefan Diewald, Andreas Möller, Luis Roalter, Matthias Kranz
2014 arXiv   pre-print
Building upon existing open-source software - the middleware Robot Operating System (ROS) and the 3D simulator Gazebo - we have created a toolkit that can be used for developing and testing fully functional  ...  The entire interaction between the TUI and other hardware and software components is controlled by the middleware, while the human interaction with the TUI can be explored using the 3D simulator and 3D  ...  TUI Hardware Toolkits and Software Frameworks During the last few years, several hardware toolkits and software frameworks for TUI prototyping have emerged and therewith simplified the TUI development  ... 
arXiv:1406.0370v1 fatcat:5gqeojxsxzeexa55yoa47szflm

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics

Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, Frank Kirchner
2022 Journal of Open Source Software  
Format (URDF) models, simulation, and controller) to control it.  ...  This repository describes the hardware (Computer-aided design (CAD) models, Bill Of Materials (BOM), etc.) required to build a physical pendulum system and provides the software (Unified Robot Description  ...  and Research (BMBF) and is additionally supported with project funds from the federal state of Bremen for setting up the Underactuated Robotics Lab (Grant Number: 201-001-10-3/2021-3-2).  ... 
doi:10.21105/joss.03884 fatcat:db7e26fbwzbkzctlfelsqvlzsy

Intelligent control of mobile robot with redundant manipulator & stereovision: quantum / soft computing toolkit

Kirill V Koshelev, Alena V Nikolaeva, Andrey G Reshetnikov, Sergey Victorovich Ulyanov
2020 Artificial Intelligence Advances  
An example of a control object as a mobile robot with redundant robotic manipulator and stereovision introduced.  ...  The coordination control between the mobile robot and redundant manipulator with stereovision based on soft computing described.  ...  software and algorithmic support platform in the form of sophisticated toolkit based on soft and quantum computing (Quantum computational intelligence toolkit) [4] .  ... 
doi:10.30564/aia.v2i2.1440 fatcat:cpxegp43hfehbf3cj2ofikruby

A light-weight, multi-axis compliant tensegrity joint [article]

Steven Lessard, Jonathan Bruce, Erik Jung, Mircea Teodorescu, Vytas SunSpiral, Adrian Agogino
2015 arXiv   pre-print
The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.  ...  Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person.  ...  NTRT is an open-source simulator for the design and control of tensegrity structures and robots 1 .  ... 
arXiv:1510.07595v1 fatcat:tm77wsz2hvbwnlzxcot7apqd7i

Dynamic Finite Element Modeling and Simulation of Soft Robots

Liang Ding, Lizhou Niu, Yang Su, Huaiguang Yang, Guangjun Liu, Haibo Gao, Zongquan Deng
2022 Chinese Journal of Mechanical Engineering  
The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots, including hybrid actuated robots and rigid-flexible coupling robots.  ...  In this study, a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots.  ...  The FE method has been employed for the modeling and real-time control of soft robots using the opensource framework "Simulation Open Framework Architecture" with the "SOFT ROBOTS" plugin [21, 22] .  ... 
doi:10.1186/s10033-022-00701-8 fatcat:mxcnikphpnc5zeems32pkacxx4

Titan: A Parallel Asynchronous Library for Multi-Agent and Soft-Body Robotics using NVIDIA CUDA [article]

Jacob Austin, Rafael Corrales-Fatou, Sofia Wyetzner, Hod Lipson
2019 arXiv   pre-print
While most robotics simulation libraries are built for low-dimensional and intrinsically serial tasks, soft-body and multi-agent robotics have created a demand for simulation environments that can model  ...  We present several applications of Titan to high-performance simulations of soft-body and multi-agent robots.  ...  Soft-Body and Multi-Agent Robotics Simulations Several libraries exist for simulating soft-body physics in general, most prominently the NVIDIA FleX and PhysX toolkits, are able to handle soft objects,  ... 
arXiv:1911.10274v1 fatcat:wgclax2qfbbvfep3n63pcel6u4

Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator

Yaxi Wang, Qingsong Xu
2019 Actuators  
The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control.  ...  This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators.  ...  The founding sponsors had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, and in the decision to publish the results.  ... 
doi:10.3390/act8010005 fatcat:me27rx5s7jcalj5xg4qq4iub7i

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

S. Wittmeier, M. Jantsch, K. Dalamagkidis, M. Rickert, H. G. Marques, A. Knoll
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
It consists of a generic physics simulator capable of utilizing CAD robot models and a set of additional tools for simulation control, data acquisition and system investigation.  ...  The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization.  ...  Simulation Control Tools Basic simulation control tools have been developed for the ROSE using the Qt toolkit. These tools provide controls for ! ! Fig. 3 . Scene-Graph Abstraction Layer (SGAL).  ... 
doi:10.1109/iros.2011.6094455 dblp:conf/iros/WittmeierJDRMK11 fatcat:o6ep4ehncvaw7haygf2kr5lk2e
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