A dynamic simulation and virtual evolution platform for modular self-reconfigurable robots

摘要

Simulation platform can be used to significantly reduce research price, develop and validate algorithms. In case of locomotion evolution, we must refer to simulation platform to quickly find solutions. Modular self-reconfigurable robots comprise of modules with identical functions and have various configurations. It is hard to plan an arbitrary configuration for its redundant freedom setup. Thus execute locomotion evolution in a dynamic simulator is preferred. Some researchers have developed their own dynamic simulator with certain purpose. To realize UBot self-reconfigurable robot's dynamic simulation and virtual evolution, we developed an efficient dynamic simulator with the ability of creating arbitrary configuration and fully exerting computer's computing power. This paper presents the simulator and lists some methods to enhance dynamic simulation efficiency which can be used in other simulator research.