qiBullet, a Bullet-based simulator for the Pepper and NAO robots
qiBullet, a Bullet-based simulator for the Pepper and NAO robots
复制标题
qiBullet，用于 Pepper 和 NAO 机器人的基于 Bullet 的模拟器
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Maxime Caniot
中科院分区：
文献类型：
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作者：
Maxime Busy;Maxime Caniot
胡椒和NAO机器人被广泛用于店内广告和教育，但也用作用于研究目的的机器人平台。他们在学术领域的存在是通过各种出版物，多个协作项目以及作为两个不同Robocup联赛的标准平台来表达的。开发，收集数据和培训类人机器人可能很乏味：迭代重复特定任务可能会给机器人带来风险，并且某些环境可能很难设置。允许模拟复杂环境和机器人动态的软件工具可以减轻该问题，从而可以在虚拟模型上执行上述过程。 Pepper和NAO平台的当前缺点是缺乏物理上准确的仿真工具，可以测试涉及重复运动的场景以及与虚拟机器人上环境的接触。在本文中，我们介绍了Qibullet仿真工具，使用子弹物理引擎为胡椒和NAO机器人提供了这样的解决方案。
The Pepper and NAO robots are widely used for in-store advertizing and education, but also as robotic platforms for research purposes. Their presence in the academic field is expressed through various publications, multiple collaborative projects, and by being the standard platforms of two different RoboCup leagues. Developing, gathering data and training humanoid robots can be tedious: iteratively repeating specific tasks can present risks for the robots, and some environments can be difficult to setup. Software tools allowing to simulate complex environments and the dynamics of robots can thus alleviate that problem, allowing to perform the aforementioned processes on virtual models. One current drawback of the Pepper and NAO platforms is the lack of a physically accurate simulation tool, allowing to test scenarios involving repetitive movements and contacts with the environment on a virtual robot. In this paper, we introduce the qiBullet simulation tool, using the Bullet physics engine to provide such a solution for the Pepper and NAO robots.