SimRobot - A General Physical Robot Simulator and Its Application in RoboCup

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 an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To demonstrate the general approach, this paper presents multiple examples of different robots which have been simulated so far.

• Type: Conference
• Year: 2005
• Where: ROBOCUP
• Authors: Tim Laue, Kai Spiess, Thomas Röfer
• Keywords: Arbitrary User-defined Robots, Different Generic Bodies, Rigid Body Dynamics, ROBOCUP 2005