We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics using traditional robotic tools that extend state-of-the-art DRL implementations and provide an end-to-end approach which trains a robot directly from joint states. Moreover, we present a novel technique to transfer these DLR methods into the real robot, aiming to close the simulation-reality gap. We demonstr...

A new ABB robot simulation and offline programming tool has transformed a complex and time-consuming process into an intuitive and speedy exercise that can be performed during a sales visit to the customer. Designed for use by salespersons with limited engineering experience, the product has reduced robot simulation time from a typical eight hours to less than 30 minutes.

This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2012. While last year’s TDP focused on the tool set created for 3D simulation and the support for heterogeneous robot models, this year we focus on the different ways how robot behavior can be defined in the magmaOffenburg framework and how those behaviors can be improved by learning.

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

An alternative to traditional simulation of biological behavior is to investigate problems in neuroethology, the study of neural basis for behavior, by developing embedded physical robot models. While a number of neuroethological robot models have been developed, these tend to be quite expensive in terms of computational needs. Two different approaches have been taken to neurotheological robot ...

BACKGROUND Clinical validation of laboratory toothbrushing tests has important advantages. It was, therefore, the aim to demonstrate correlation of tooth cleaning efficiency of a new robot brushing simulation technique with clinical plaque removal. METHODS Clinical programme: 27 subjects received dental cleaning prior to 3-day-plaque-regrowth-interval. Plaque was stained, photographically doc...

Robot learning in simulation is a promising alternative to the prohibitive sample cost of learning in the physical world. Unfortunately, policies learned in simulation often perform worse than hand-coded policies when applied on the physical robot. Grounded simulation learning (GSL) promises to address this issue by altering the simulator to better match the real world. This paper proposes a ne...

This paper describes a comparative study of the performance of a simulation model of a two-wheeled robot performing a line following tasks versus a similarly setup simulated environment. The robot model includes closed loop kinematics for the chassis motion and a dynamic model of the wheel motors and control algorithm that generate wheel velocity based on actuation commands. The purpose of this...

Effective robotic simulation depends on accurate modeling of physics and the environment as well as the robot, itself. This paper describes validation studies examining feature extraction, WaveLan radio performance, and human interaction for the USARSim robotic simulation. All four feature extraction algorithms showed strong correspondences between data collected in simulation and from real rob...