The Role of Physics-Based Simulators in Robotics
The Role of Physics-Based Simulators in Robotics
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DOI：
10.1146/annurev-control-072220-093055
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发表时间：
2021-01-01
期刊：
影响因子：
--
通讯作者：
Negrut, Dan
中科院分区：
文献类型：
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作者：
Liu, C. Karen;Negrut, Dan
基于物理的仿真为开发、验证和测试机器人控制算法和原型设计提供了一种加速和安全的途径。为了利用机器学习来开发支持AI的机器人，基于物理的仿真可以在短时间内生成大量标记的训练数据。基于物理的仿真也为开发智能机器人创造了一个理想的试验场，这些机器人既可以从错误中学习，又可以验证。本文概述了仿真在机器人技术中的应用，强调了机器人（带有传感和驱动组件）、它们所处的环境以及它们与之交互的人类在实践中是如何被仿真的。它的结论与现有的机器人仿真工具的概述和简短的讨论方面，限制了今天在智能机器人设计中的作用，仿真。
Physics-based simulation provides an accelerated and safe avenue for developing, verifying, and testing robotic control algorithms and prototype designs. In the quest to leverage machine learning for developing AI-enabled robots, physics-based simulation can generate a wealth of labeled training data in a short amount of time. Physics-based simulation also creates an ideal proving ground for developing intelligent robots that can both learn from their mistakes and be verifiable. This article provides an overview of the use of simulation in robotics, emphasizing how robots (with sensing and actuation components), the environment they operate in, and the humans they interact with are simulated in practice. It concludes with an overview of existing tools for simulation in robotics and a short discussion of aspects that limit the role that simulation plays today in intelligent robot design.