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Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators

  • Gianluca BardaroEmail author
  • Luca Bascetta
  • Francesco Casella
  • Matteo Matteucci
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9991)

Abstract

In this paper we present an interface to develop a communication between two different simulators: Gazebo, aiming at scene realism, and OpenModelica, focused on accurate dynamic simulation. This communication allows us to create a cooperative simulation loop, having a single shared simulated environment, and exploiting the best characteristics of each simulation.

Keywords

Multi-body simulation 3D simulation Gazebo OpenModelica 

References

  1. 1.
    Drumwright, E., Hsu, J., Koenig, N., Shell, D.: Extending open dynamics engine for robotics simulation. In: Balakirsky, S., Hemker, T., Reggiani, M., Stryk, O., Ando, N. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 38–50. Springer, Heidelberg (2010)CrossRefGoogle Scholar
  2. 2.
    Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 2149–2154, September 2004Google Scholar

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Gianluca Bardaro
    • 1
    Email author
  • Luca Bascetta
    • 1
  • Francesco Casella
    • 1
  • Matteo Matteucci
    • 1
  1. 1.Politecnico di Milano, Dipartimento di Elettronica, Informazione e BioingegneriaMilanoItaly

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