Kyriacou, T., Nehmzow, U., Ingelsiais, R. et al. (1 more author) (2008) Accurate Robot Simulation Through System Identification. Research Report. ACSE Research Report 968 . Department of Automatic Control and Systems Engineering
Abstract
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 codes. 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.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The 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. |
Dates: |
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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: | MRS ALISON THERESA BARNETT |
Date Deposited: | 27 Apr 2015 10:57 |
Last Modified: | 25 Oct 2016 06:20 |
Status: | Published |
Publisher: | Department of Automatic Control and Systems Engineering |
Series Name: | ACSE Research Report 968 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:85406 |