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Accurate robot simulation through system identification

Kyriacou, T., Nehmzow, U., Inglesias, R. and Billings, S.A. (2008) Accurate robot simulation through system identification. Research Report. ACSE Research Report no. 968 . Automatic Control and Systems Engineering, University of Sheffield


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Robot simulators are useful tools for developing robot behaviours. They provide a fast and efficient means to test robot control code at the convenience of the office desk. In all but the simplest cases though, due to the complexities of the physical systems modelled in the simulator, there are considerable differences between the behaviour of the robot in the simulator and that in the real world environment. In this paper we present a novel method to create a robot simulator using real sensor data. Logged sensor data is used to construct a mathematically explicit model(in the form of a NARMAX polynomial) of the robot’s environment. The advantage of such a transparent model — in contrast to opaque modelling methods such as artificial neural networks — is that it can be analysed to characterise the modelled system, using established mathematical methods In this paper we compare the behaviour of the robot running a particular task in both the simulator and the real-world using qualitative and quantitative measures including statistical methods to investigate the faithfulness of the simulator.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: he Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 12 Oct 2012 13:29
Last Modified: 07 Jun 2014 23:07
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74625

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