XPERSim: A Simulator for Robot Learning by Experimentation

  • Iman Awaad
  • Beatriz León
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5325)


In this paper, we present XPERSim, a 3D simulator built on top of open source components that enables users to quickly and easily construct an accurate and photo-realistic simulation for robots of arbitrary morphology and their environments. While many existing robot simulators provide a good dynamics simulation, they often lack the high quality visualization that is now possible with general-purpose hardware. XPERSim achieves such visualization by using the Object-Oriented Graphics Rendering Engine 3D (Ogre) engine to render the simulation whose dynamics are calculated using the Open Dynamics Engine (ODE). Through XPERSim’s integration into a component-based software integration framework used for robotic learning by experimentation, XPERSIF, and the use of the scene-oriented nature of the Ogre engine, the simulation is distributed to numerous users that include researchers and robotic components, thus enabling simultaneous, quasi-realtime observation of the multiple-camera simulations.


Mobile Robot Node Information Robot Simulator Robot Learn Khepera Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Iman Awaad
    • 1
  • Beatriz León
    • 2
  1. 1.Bonn-Rhein-Sieg University of Applied ScienceSankt AugustinGermany
  2. 2.Universitat Jaume ICastellon de la PlanaSpain

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