Relates to SENSOPAC Work Package 2: 2C.2
People involved: Djordje Mitrovic, Stefan Klanke, Sethu Vijayakumar
Role within SENSOPAC
We develop and run a physics-based simulation environment that allows us to work with a dynamically and kinematically consistent virtual copy of the SENSOPAC robot, e.g. for evaluating control strategies and learning algorithms.When developing new methods and algorithms for controlling robots and evaluating sensor information, or more generally for dealing with any piece of hardware, it is highly beneficial to have an accurate simulation of the hardware at one's disposal for various reasons:
Our simulation environment is based upon the Open Dynamics Engine (ODE) for physics simulation and OpenGL for visualization. We can simulate articulated rigid bodies that are composed of simple geometric primitives, but also complicated objects given their trimesh model.
Website of the Open Dynamics Engine (ODE)