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By Noriako Ando, Stephen Balakirsky, Thomas Hemker, Monica Reggiani, Oskar von Stryk

This ebook constitutes the refereed complaints of the second one overseas convention on Simulation, Modeling, and Programming for independent Robots, SIMPAR 2010, held in Darmstadt, Germany, in November 2010. The 28 revised complete papers and 17 revised poster papers awarded have been rigorously reviewed and chosen from seventy four submissions. thirteen papers deal with methodologies and environments of robotic simulation, 14 seek advice from methodologies of self reliant robotic programming and middleware, 18 describe functions and case reports. The papers are equipped in topical sections on simulation, programming, and functions.

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Extra info for Simulation, Modeling, and Programming for Autonomous Robots

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Leuven 19 These accomplishments are illustrated in the markerless human motion capture example in which Blender is used as a 3D render engine to render the simulated expected measurements. In this example, the sensor feedback consists of a virtual camera image. A second example shows the Willow Garage PR2 robot simulated in Blender and gathering sensor data. 3 Middleware Because of the good integration of Python with the BGE, it is rather easy to connect the BGE to external programs via different types of middleware.

Most of them were created for a specific research project or to interface a specific robotics framework. One of the most popular free and open-source software (FOSS) projects is Player, with the 2D Stage [13] simulator, and the 3D Gazebo [14] simulator; both have been accepted as core modules in the “Robot Operating System” ROS [27], which is rapidly becoming the number one software framework in robotics. So, why spend efforts to build yet another visualisation and simulation tool, with Blender [19] at its basis?

Since most robot simulators employ external libraries and third-party code to handle simulation of the physical dynamics and contact mechanics, improvements usually occur when those code-bases are improved. Thus far, few observations of problems arising specifically in simulation of robots have resulted in extensions and modifications of these general purpose (and sometimes game-oriented) physical dynamics libraries. Modification of one such library is the approach we have employed in this paper. Using the current version of the Open Dynamics Engine (ODE) [27] via Gazebo [18] to simulate mobile robot locomotion and simple grasping by a manipulator, we encountered and identified the following four distinct issues: 1.

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