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A realistic simulation of a humanoid robot in USARSim
No full textRealistic simulations of humanoid robots depend on the model accuracy of physical properties of the used environment and on the robot models. This paper describes the creation of a realistic sim- ulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim gives a realistic view of the environment with its detailed 3D rendering and a realistic simulation of the physical properties. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is the egocentric view, i.e. using the perspective of the camera mounted on the robot. We choose to model the Robovie-M robot, developed by Vstone. We used the same control tool software, which has been developed in our lab- oratory, to send commands to the simulated robot and the virtual one. Then, we compared these two behaviors. We present a study about a qualitative validation of USARSim’s environment for the development of different movements with this robot’s model
UTILIZZO DI UN METODO COLORIMETRICO RAPIDO E SENSIBILE PER EVIDENZIARE I POLIMORFISMI DI RESTRIZIONE DEL DNA
No full textSimulation of Small Humanoid Robots for Soccer Domain
No full textIn this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is the egocentric view, which can simulate the camera mounted on the robot. The small humanoid robot presented in this work is Robovie-M, developed by VStone Ltd. (Japan). This robot is used by our team Artisti in the RobotCup soccer competitions.
Reported experiments compare the behaviors of a real robot and of its virtual model, when controlled by the same control software to asses the possibility to faithfully simulate a robot with 22 degrees of freedom in USARSim. Moreover, we discuss the possibility to close the control loop of the robot in simulation, by simulating also the main robot sensor, i.e. the camera.
The experiments show that USARSim, despite being a simple simulator based on a low cost computer game, provides an accurate enough simulation of the physics and a realistic rendering of the 3D scene enabling a faithful simulation of a small humanoid robot at low cost. Thus, one can entirely test the robot software modules in the simulation (namely: the motion control modules, the vision system modules and, by closing the robot control loop in simulation, the behavior and behavior-selection modules)
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
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