RobWorkSim - an Open Simulator for Sensor based Grasping

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 8Sprache: EnglischTyp: PDF

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Jørgensen, Jimmy A.; Ellekilde, Lars-Peter; Petersen, Henrik G. (Maersk McKinney Moller Institute, University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark)

In this paper we present a new open-source grasp simulator RobWorkSim, which provides support for full 6D rigid body dynamics as well as simulation of kinematics. It furthermore includes simulation of a rich set of sensors including tactile arrays, cameras, range scanners as well as a range of tools useful for grasp analysis and generation. In the paper we will outline and motivate our specification of a unified physics engine interface, describe how a generally available physics engine can be wrapped to support the interface and introduce a selected set of tools and features in RobWorkSim.