Supporting in Physics-based eRobotics-Testbeds the Pervasive Employment of Intelligent Robot Manipulators

We combine in this paper 3D computer simulation techniques with advanced robotics to support the employment of intelligent robot manipulators across various applications. For this purpose, we systematically capture the interactive dynamic behavior of intelligent robot manipulators within physics-based virtual testbeds, regardless of the type of application. On this basis, we develop structures to equip and employ simulated robots with motion planning and control capabilities that range from stiff tracking to soft physical interaction within different environments. This results, on the one hand, in an approach to systematically address interdisciplinary and challenging robotics-related issues in various virtual testbeds. On the other hand, real applications can interface the simulator to extend and enhance the capabilities and predict the dynamic behavior of physical robots they rely upon. Experiment results illustrate the usefulness of the approach aiming to maximize the synergy between 3D simulation and robotics, as pursued by eRobotics.