Skip to content

Home

Jump to bottom
Ricardo Sanz edited this page Apr 15, 2020 · 7 revisions

Welcome to the RMsim wiki!

RMsim

The ROBOMINERS Robot Simulator (RMsim) is a simulator of a modular robot to be used in the exploration of metacontrol strategies for the improvement of adaptivity and autonomy.

The purpose of RMsim is the provision of a simulation testbed to be used in:

  • The design of the robot structure.
  • The test of the high-level reconfiguration metacontrollers.

The initial plan is to use Gazebo as simulation platform (following the ROBOMINERS plan).

The system will also provide a ROS2 API to interact with the virtual robot.

About the robot

A Basic Scenario

Context

Robot modularity. Robot self-assembly. Self-awareness. Self-knowledge. The ASys project. The ROBOMINERS Project.

Sequence of events

The ROBOMINERS robot is performing the mining operations it was designed to do. The robot loses capability in a leg -e.g. due to an actuator malfunction: The robot is able to perceive this situation and reorganises itself (e.g. changing the gait controller or replacing the leg). The metacontroller drives this process.

All this happens in the simulation. The metacontroller engineer tests the operation of the metacontroller against the simulation. The simulator is able to perform the simulation (change of physical structure of the robot).

Work

  1. Gather requirements from project and from simulator users.
  2. Learn Gazebo, ROS2.
  3. Create SysML model of SoI.
  4. Design simulation testbed.
  5. Create robot model.
  6. Create simulation API.

Implementation

  • A ROS2 package.
  • A Gazebo model of the robot.
  • A user manual.

This Wiki uses GitHub Markdown Syntax.

Clone this wiki locally