SimRobot – Development and Applications ?

This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors, and actuators has been implemented. Furthermore, the simulator follows a user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To allow a more detailed simulation, algorithms for simulating image disturbances as well as for actuator parameter optimization have been added. During the past years, SimRobot has been used to simulate several different robots, of which some are presented in this paper.