Aibo and Webots: Simulation, wireless remote control and controller transfer

被引：24

作者：

Hohl, Lukas ^{[1
]}

Tellez, Ricardo ^{[1
]}

Michel, Olivier ^{[1
]}

Ijspeert, Auke Jan ^{[1
]}

机构：

[1] Lausanne EPFL, Swiss Fed Inst Technol, Sch Comp & Commun Sci, Lausanne, Switzerland

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 06期

关键词：

Aibo; Webots; robot simulation; remote control; cross-compilation;

D O I：

10.1016/j.robot.2006.02.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article introduces a new software tool that provides an accurate simulation of Sony Aibo robots and the capability to transfer controller programs from the simulation to the real robot. Five components are described: (1) a simulated physics-based model of the Sony Aibo ERS-210(A) and ERS-7 quadruped robots; (2) a graphical user interface for controlling the simulated and real robots; (3) a wireless communication protocol for controlling the robot from within Webots; (4) software components on the robot that enable remote control; and (5) a method for cross-compiling Webots robot controllers. The complete system has been calibrated and proof tested. It enables simultaneous control of both a simulated and a real Aibo robot and provides the user with a platform for convenient robot programming without any knowledge of the underlying robot firmware. (C) 2006 Elsevier B.V. All rights reserved.

引用

页码：472 / 485

页数：14

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