UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League

UCHILSIM is a robotic simulator specially developed for the RoboCup four-legged league. It reproduces with high accuracy the dynamics of AIBO motions and its interactions with the objects in the game field. Their graphic representations within the game field also possess a high level of detail. The main design goal of the simulator is to become a platform for learning complex robotic behaviors which can be directly transferred to a real robot environment. UCHILSIM is able to adapt its parameters automatically, by comparing robot controller behaviors in reality and in simulations. So far, the effectiveness of UCHILSIM has been tested in some robot learning experiments which we briefly discuss hereinafter. We believe that the use of a highly realistic simulator might speed up the progress in the four legged league by allowing more people to participate in our challenge.