An Application Interface for UCHILSIM and the Arrival of New Challenges

  • Juan Cristóbal Zagal
  • Iván Sarmiento
  • Javier Ruiz-del-Solar
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


UCHILSIM is a robot simulator recently introduced in the RoboCup Four Legged League. A main attractive of the simulator is the possibility of reproducing with accuracy the dynamical behavior of AIBO robots as well as providing good graphical representations of their surroundings on a soccer scenario. Learning over virtual environments can be performed with successful transfers of resulting behaviors to real environments. Previous version of the simulator had a major drawback: Only the UChile1 team could make use of it since the developed system had high dependency on the team code. In this paper we present results of a development work which was envisioned on the first presentation of UCHILSIM; an application interface for allowing any OPEN-R software code to be directly used over the UCHILSIM simulator. The possibility of having this kind of tool opens a great field of developments and challenges since more people will develop OPEN-R software, even without having the robotic hardware but the simulator. Other recent improvements on our simulator are briefly presented here as well.


Host Computer Graphic Hardware Application Interface Sony Corporation Robotic Simulator 
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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Asanuma, K., Umeda, K., Ueda, R., Arai, T.: Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds.) RoboCup 2003. LNCS (LNAI), vol. 3020, pp. 446–457. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  2. 2.
    Brooks, R.A.: Flesh and Machines: How Robots will Change Us. Phanteon, USA (February 2002)Google Scholar
  3. 3.
    Cohen, J., Luebke, D., Duca, N., Schubert, B.: GLOD: A Geometric Level of Detail System at the OpenGL API Level. In: IEEE Visualization 2003, Seattle, WA (2003)Google Scholar
  4. 4.
    Kelly, F., Kokaram, A.: Graphics hardware for gradient-based motion estimation. In: Embedded Processors for Multimedia and Communications, San Jose, California, pp. 92–103 (2004)Google Scholar
  5. 5.
    Michalewicz, Z.: Genetic Algorithms + Data Structures = Evolution Programs, 3rd edn. Springer, Heidelberg (1996)MATHGoogle Scholar
  6. 6.
    Michel, O.: Webots: Professional Mobile Robot Simulation. International Journal of Advanced Robotic Systems 1(1), 39–42 (2004)Google Scholar
  7. 7.
    Miller, A., Allen, P.: GraspIt! A versatile simulator for Robotic Grasping. In: IEEE Robotics and Automation Magazine, pp. 110–122 (December 2004)Google Scholar
  8. 8.
    Moore, G.E.: Cramming More Components Onto Integrated Circuits. Electronics Journal (April 19, 1965)Google Scholar
  9. 9.
    Scassellati, B.: Theory of Mind for a Humanoid Robot. In: First IEEE/RSJ International Conference on Humanoid Robotics (2000) Google Scholar
  10. 10.
    Sony Corporation.: OPEN-R SDK Programer’s Guide and Level2 Reference Guide. Published by Sony Corporation (2004)Google Scholar
  11. 11.
    Watt, A., Watt, M.: Advanced Animation and Rendering Techniques, Theory and Practice. Addison-Wesley, New York (1994)Google Scholar
  12. 12.
    Zagal, J.C., Ruiz-del-Solar, J.: UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 34–45. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  13. 13.
    Zagal, J.C., Ruiz-del-Solar, J.: Learning to Kick the Ball Using Back to Reality. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 335–346. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  14. 14.
    Zagal, J.C., Ruiz-del-Solar, J., Vallejos, P.: Back to Reality: Crossing the Reality Gap in Evolutionary Robotics. In: IAV 2004 the 5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal (2004)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Juan Cristóbal Zagal
    • 1
  • Iván Sarmiento
    • 1
  • Javier Ruiz-del-Solar
    • 1
  1. 1.Department of Electrical EngineeringUniversidad de ChileSantiagoChile

Personalised recommendations