Chapter 35: Free Simulation Software and Library

Serena Ivaldi (1) , Barkan Ugurlu (2)

1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
2 Özyeğin University

With the advent of powerful computation technologies and efficient algorithms , simulators became an important tool in most engineering areas. The field of humanoid robotics is no exception; there have been numerous simulation tools developed over the last two decades to foster research and development activities. With this in mind, this chapter is written to introduce and discuss the current-day open source simulators that are actively used in the field. Using a developer-based feedback, we provide an outline regarding the specific features and capabilities of the open-source simulators, with a special emphasis on how they correspond to recent research trends in humanoid robotics. The discussion is centered around the contemporary requirements in humanoid simulation technologies with regards to future of the field.

Mots clés: open source software; physics engine; humanoid modeling; dynamic simulation

Domaines: Robotique [cs.RO]

Serena Ivaldi, Barkan Ugurlu. Chapter 35: Free Simulation Software and Library. Humanoid Robotics: A Reference, Springer, 2018, 978-94-007-6045-5. ⟨hal-01614032⟩