DARPA ARM Autonomous Robotic Manipulation Simulation
<p>Jul 12, 2011 06:36 PM</p>
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READ: ARM > About > The Simulator > Overview (very cool)... exact description of core of my Sci AM article.
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<li>The simulator is a <b>physically realistic representation of the ARM robot.</b> Built to work with the open-source Gazebo simulator incorporated into Willow Garage’s open-source <a href="http://www.ros.org">Robotic Operating System (ROS)</a> , the ARM simulation software is designed to allow users to<b> </b><b>develop behavior algorithms and code in exactly the same way they would on the actual ARM robot</b>. Specifically, <b>the ARM simulator emulates the proper behaviors, graphical representations, and physical characteristics of the ARM robot within the Gazebo simulation engine.</b> The Gazebo simulator utilizes an <b>open-source graphics renderer (Ogre)</b> and an<b> open-source physics engine (ODE)</b> to <b>model how the robot interacts with its surroundings, and to visualize both how the world appears and to generate renderings of what different sensors can see</b>.</li>
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<p>(also read How It Works... Simulator runs on top of standard ROS.
needs a custom model of the robot and controllers to model the WAM arms, the Barrett hands,
and pan-tilt actuators in the head.</p>
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higher-level apps not aware that they are interacting with real system or with sim version.</p>
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<b>Participants can develop apps to process sensor data and command the sim robot to perform tasks within the sim world then easily transition this software to run on the robot</b>. ....</p>
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