Validation of simulated robots with realistically modeled dimensions and mass in USARSim

Shogo Okamoto, Kensuke Kurose, Satoshi Saga, Kazunori Olino, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

In the case of simulators of mobile robots, it is necessary to clarify the similarity between actual and simulated robots in order to improve the efficiency and transparency of simulators as research tools. Because of its real-time performance, USARSim [1] has been popularly used in studies involving human-robot interactions. However, since USARSim uses approximations and abbreviations in its physical computations, there arc some doubts over its computational accuracy. The objective of this study is to compare the actual and simulated robots in order to investigate whether the simulated environments can be used as a training tool. The authors modeled two types of response robots -IRS Soryu |2] and Kcnaf |3]- and compared the abilities of the simulated robots and the actual robots in navigating obstacles such as steps and trenches. The dimensions such as heights, widths and lengths and total mass of the real robots were accurately modeled in the simulation and the other physical parameters were assigned default values. It was observed that the maximum error in the sizes of the traversable objects was 18 % of the body length of the robot. It was also found out that the angular velocities of the robots were significantly different for the real and simulated robots. The conclusion is that a training system can be built based on USARSim when the simulated environments involve simple obstacles because there are not significant discrepancies between the basic traversing abilities of the actual robots and those of the simulated robots. However, in terms of the dynamic motions of the robots the operators need further trainings using the real robots.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Pages77-82
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 - Sendai, Japan
Duration: 2008 Nov 212008 Nov 24

Other

Other2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
CountryJapan
CitySendai
Period08/11/2108/11/24

Keywords

  • IRS Soryu
  • Kenaf
  • Rescue Robot
  • Response Robot
  • USARSim

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Fingerprint Dive into the research topics of 'Validation of simulated robots with realistically modeled dimensions and mass in USARSim'. Together they form a unique fingerprint.

Cite this