Accurate robot simulation

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Nehmzow, U. ; Kerr, D. ; Billings, S.A. (2009)
  • Publisher: Automatic Control and Systems Engineering, University of Sheffield
  • Subject:
    arxiv: Computer Science::Robotics

Robot simulators are valuable tools for researchers\ud to develop control code in a fast and efficient manner without spending time setting up physical experiments. Most simulators, however, do not model the real world accurately. As a consequence, when a program is run on a real robot it may behave differently from when run in simulation. In this paper we present a method of developing\ud a robot simulator that models the operation of a real robot in a real environment accurately, using real robot data and system identification to construct the simulator's model.
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