NDLI: Developing Virtual Testbeds for mobile robotic applications in the woods and on the moon

Content Provider	IEEE Xplore Digital Library
Author	Rossmann, J. Jung, T.J. Rast, M.
Copyright Year	2010
Description	Author affiliation: Institute of Man-Machine Interaction, Germany (Jung, T.J.; Rast, M.) \|\| Institute of Man-Machine Interaction at the RWTH Aachen University, Ahornstr. 55, 52074, Germany (Rossmann, J.)
Abstract	Simulation in the context of engineering often focuses on very special details of global systems. Robot designers usually begin with the analysis of new actuators and joint designs. This corresponds to a “bottom-up”-strategy in the development of simulation models. For classical fields of application of robotics, e.g. in production plants with a well defined environment this is the approved method, because it allows very detailed insights into the analyzed subsystems. On the other hand, unpredictable effects of the interaction of multiple subsystems may easily be overseen. In particular, nontechnical environments like in moon exploration tasks or in a biological environment like in forestry applications are hard to describe in an analytical way to integrate them into an analytical simulation model. This is why this paper presents the idea and some practical aspects of the development of “Virtual Testbeds”. In a Virtual Testbed, the entire system is simulated as a whole in Virtual Reality - not only small subsystems of a global system. According to the requirements different subsystems are simulated with different levels of detail. In contrast to the classical “bottom-up”-strategy this can be seen as a “top-down”-approach. Therefore the employment of a multi-body dynamics system as a platform for the development of versatile simulation and testing environments is proposed. Using the examples of the evaluation and testing of an extraterrestrial walking exploration robot design and the development of a method for self-localization in forestry, the idea is further deepened. As a special field of attention the integration of a method of soil simulation as a particular requirement of a Virtual Testbed for walking exploration robots is presented.
Starting Page	4952
Ending Page	4957
File Size	2447487
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651665
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Soil Legged locomotion Joints Robot kinematics Dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in