publication . Book . 2008

Accurate Robot Simulation Through System Identification

Kyriacou, T.; Nehmzow, U.; Inglesias, R.; Billings, S.A.;
Open Access English
  • Published: 01 Jan 2008
  • Publisher: Department of Automatic Control and Systems Engineering
  • Country: United Kingdom
Abstract
Robot simulators are useful tools for developing robot behaviours. They provide a fast and efficient means to test robot control code at the convenience of the office\ud desk. In all but the simplest cases though, due to the complexities of the physical systems modelled in the simulator, there are considerable differences between the\ud behaviour of the robot in the simulator and that in the real world environment. In this paper we present a novel method to create a robot simulator using real sensor data. Logged sensor data is used to construct a mathematically explicit model(in the form of a NARMAX polynomial) of the robot’s environment. The advantage of such a...
Subjects
arXiv: Computer Science::Robotics
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