基于物理的模拟地下挖洞行为定性评价动画

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382837

B. Bergeron

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引用次数: 1

摘要

使用物理中间件库和协处理器在3D游戏引擎上执行基于物理的动画，可用于探索工作环境和机器人配置中潜在机器人行为的适用性，这些行为和机器人配置定义不清或难以用传统的定量工具进行建模。我们使用廉价的游戏开发引擎和PC硬件来开发基于物理的潜在仿生地下机器人挖洞行为动画。对几种仿生机器人设计的能效、挖洞时间和挖掘能力进行了定性评估，并通过在各种土壤类型和使用彩色颗粒的土壤模型中运行的物理原型数据进行了验证。结果表明，这种方法适用于快速筛选潜在的机器人设计，旨在在各种领域进行操作。

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Physics-Based Animation for Qualitative Assessment of Biomimetic Subterranean Burrowing Behaviors

Physics-based animations executing on 3D game engines enabled with physics middleware libraries and coprocessors can be used to explore the suitability of potential robot behaviors in working environments and robot configurations that are ill-defined or difficult and time-consuming to model with traditional quantitative tools. We use an inexpensive game development engine and PC hardware to develop physics-based animations of potential biomimetic subterranean robot burrowing behaviors. Qualitative assessment of energy efficiency, burrowing time, and digging capabilities of several biomimetic robot designs are validated with data from physical prototypes operated in a range of soil types and models of soil using colored particles. Results suggest this methodology is applicable to rapid screening of potential robot designs intended to operate in a variety of domains.

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来源期刊

2007 International Symposium on Computational Intelligence in Robotics and Automation

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