A 3D Model of a Humanoid for USARSim Simulator

摘要

Abstract — This paper focuses on the creation of a realistic simulation of a humanoid robot in a virtual environment using USARSim (Urban Search and Rescue Simulator). The robot we chose to model is a Robovie-M, by Vstone. This model will help researchers to implement and study different behaviors of the robot without its physical presence. The dynamics and the appearance of the robot and the other objects within the simulator are faithfully reproduced in the virtual environment. Moreover, the virtual robot in USARSim can be controlled with the same program controlling the real robot, a program tool we developed in our laboratory. We present a 3D model of the humanoid robot Robovie-M for the USARSim simulator and the computer program used as tool to control the 3D model of the robot within USARSim, and the real robot. We present the results of our experiments about the qualitative simulation of the robot’s behaviors and the analysis of fps in case of single and multiple robot simulation. I.