A Simulation Testbed for Biologically Inspired Robots and Their Controllers

Abstract

This paper introduces a dynamics simulator designed to aid the development of control algorithms for biologically inspired robots. We describe the simulator and a two-tier framework for control code interfacing that allows control code to be written in a standard object-oriented language (C++), but encapsulates such code to produce modular, reusable, distributed controllers with parameterizable inputoutput transmission properties such as delay, sampling rate, and noise.