Abstract
This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter provides facilities for good quality rendering, physics simulation, networking, highly versatile scripting language and a powerful visual editor. Our simulator extends USARSim features by allowing for the simulation and control of legged robots and it introduces a multi-view functionality for multi-robot support. We successfully tested the simulator capabilities by mimicking a virtual environment with up to five network-controlled legged robots, like AIBO ERS-7 and QRIO.KeywordsVirtual EnvironmentReal RobotMultiple RobotController RobotLegged RobotThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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