Table Of ContentLecture Notes in Artificial Intelligence 6472
EditedbyR.Goebel,J.Siekmann,andW.Wahlster
Subseries of Lecture Notes in Computer Science
Noriaki Ando Stephen Balakirsky
Thomas Hemker Monica Reggiani
Oskar von Stryk (Eds.)
Simulation, Modeling,
and Programming
for Autonomous Robots
Second International Conference, SIMPAR 2010
Darmstadt, Germany, November 15-18, 2010
Proceedings
1 3
SeriesEditors
RandyGoebel,UniversityofAlberta,Edmonton,Canada
JörgSiekmann,UniversityofSaarland,Saarbrücken,Germany
WolfgangWahlster,DFKIandUniversityofSaarland,Saarbrücken,Germany
VolumeEditors
NoriakiAndo
AISTTsukubaCentral2,RT-SynthesisR.G.,ISRI,AIST
Tsukuba,Ibaraki305-8568,Japan
E-mail:[email protected]
StephenBalakirsky
NationalInstituteofStandardsandTechnology,IntelligentSystemsDivision
100BureauDrive,Gaithersburg,MD20899-8230,USA
E-mail:[email protected]
ThomasHemker
OskarvonStryk
TechnischeUniversitätDarmstadt,DepartmentofComputerScience
Hochschulstr.10,64289Darmstadt,Germany
E-mail:{hemker,stryk}@sim.tu-darmstadt.de
MonicaReggiani
UniversityofPadua,DepartmentofManagementandEngineering(DTG)
StradellaSanNicola,3,36100Vicenza,Italy
E-mail:[email protected]
LibraryofCongressControlNumber:2010939068
CRSubjectClassification(1998):I.2.9-11,I.2,I.6,H.3,F.1,D.2,C.2,H.4-5
LNCSSublibrary:SL7–ArtificialIntelligence
ISSN 0302-9743
ISBN-10 3-642-17318-7SpringerBerlinHeidelbergNewYork
ISBN-13 978-3-642-17318-9SpringerBerlinHeidelbergNewYork
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Preface
Why are the many highly capable autonomous robots that have been promised
for novel applications driven by society, industry, and research not available to-
day despite the tremendous progress in robotics science and systems achieved
during the last decades? Unfortunately, steady improvements in specific robot
abilities and robot hardware have not been matched by corresponding robot
performance in real world environments. This is mainly due to the lack of ad-
vancements in robot software that master the development of robotic systems
of ever increasing complexity. In addition, fundamental open problems are still
awaitingsound answerswhile the development of new robotics applications suf-
fersfromthelackofwidelyusedtools,libraries,andalgorithmsthataredesigned
in a modular and performant manner with standardized interfaces. Simulation
environments are playing a major role not only in reducing development time
and cost, e.g., by systematic software- or hardware-in-the-loop testing of robot
performance, but also in exploring new types of robots and applications. How-
ever,theirusemaystillberegardedwithskepticism.Seamlessmigrationofcode
using robot simulators to real-worldsystems is still a rare circumstance, due to
the complexity of robot, world, sensor, and actuator modeling.
These challenges drive the quest for the next generation of methodologies
and tools for robot development. The objective of the International Conference
onSimulation,Modeling,andProgrammingforAutonomousRobots(SIMPAR)
istoofferaunique forumforthesetopicsandtobringtogetherresearchersfrom
academiaandindustry to identify andsolvethe key issues necessaryto easethe
development of increasingly complex robot software.
The second SIMPAR 2010 was held November 15–18, in Darmstadt at the
darmstadtium Conference Center. It continues the work of the first SIMPAR
2008 conference in Venice which was initiated to offer a selected number of
researchersthepossibilitytodiscuss,inahighlystimulatingatmosphere,howto
identify and solve the key issues necessary to ease the development of software
for autonomous robots.
This book collects 45 contributedpapers ofwhich 28were presentedastalks
and17aspostersinDarmstadt,selectedamongatotalof74thatweresubmitted
to the mainsingle-trackconference.Thirteenpapers addressmethodologiesand
environments of robot simulation, 14 refer to methodologies about autonomous
robotprogrammingandmiddleware,and18describeapplicationsandcasestud-
ies. Each submitted paper received at least two reviews by the members of a
carefully selected international ProgramCommittee.
Inaddition,toenlargethescientificattentiontowardsparticularlychallenging
topics, sevenworkshops were offered: BiomechanicalSimulation of Humans and
Bio-Inspired Humanoids (BH)2; Brain – Computer Interface; Domestic Service
Robots in the Real World; International Workshop on Dynamic languages for
VI Preface
RObotic and Sensors systems (DYROS); Simulation Technologies in the Robot
Development Process; Standards and Common Platforms for Robotics; Teach-
ingRobotics,TeachingwithRobotics.Paperspresentedattheseworkshopswere
collectedinaCD-ROMeditedseparatelybyEmanueleMenegatti.Additionally,
twotutorialsonModel-DrivenSoftwareDevelopmentinRoboticsandAnIntro-
duction to the OpenSim API were offered. Four invited talks were presented by
Peter Fritzson, Brian Gerkey, Takayuki Kanda, and Oussama Khatib.
We want to gratefully thank the Graduate School of Computational Engi-
neering and the Research Training Group on Cooperative, Adaptive and Re-
sponsive Monitoring ofTechnische Universita¨tDarmstadtfor their support.We
also express our gratitude to the Program Committee members and all other
supporters,organizers,andvolunteerswhocontributedinmakingSIMPARpos-
sible. Without their effort, it would not have been possible to run SIMPAR!
November 2010 Noriaki Ando
Stephen Balakirsky
Thomas Hemker
Monica Reggiani
Oskar von Stryk
Organization
Executive Committee
General Chair Oskar von Stryk, TU Darmstadt, Germany
International ProgramCo-chairs
America Stephen Balakirsky,NIST, USA
Asia Noriaki Ando, AIST, Japan
Europe Monica Reggiani, University of Padua, Italy
Local Chair Thomas Hemker, TU Darmstadt, Germany
Award Chair Itsuki Noda, AIST, Japan
Exhibition Chair Martin Friedmann, TU Darmstadt, Germany
Tutorial Chair Davide Brugali, University of Bergamo, Italy
Workshop Chair Emanuele Menegatti, University of Padua, Italy
Steering Committee
America Maria Gini, University of Minnesota, USA
Lynne Parker,University of Tennessee, USA
Asia Tamio Arai, University of Tokyo, Japan
Xiaoping Chen, University of Science and
Technology of China
Europe Herman Bruyninckx, Katholieke Universiteit Leuven,
Belgium
Enrico Pagello,University of Padua, Italy
Program Committee
America Jeff Durst, US Army Corps of Engineers, USA
Matei Ciocarlie, Willow Garage, Inc., USA
Michael Lewis, University of Pittsburgh, USA
Michael Quinlan, University of Texas at Austin, USA
Bill Smart, Washington University in St. Louis, USA
Mohan Sridharan, Texas Tech University, USA
VIII Organization
Asia Sang Chul Ahn, KIST, Korea
Joschka Boedecker,Osaka University, Japan
Takayuki Kanda, ATR Intelligent Robotics &
Communication Labs, Japan
Hyun Kim, ETRI, Korea
Yongmei Liu, Sun Yat-sen University, China
Bruce MacDonald, University of Auckland, New Zealand
Takashi Minato, Osaka University, Japan
Oliver Obst, CSIRO, Sydney, Australia
Jun Ota, The University of Tokyo, Japan
MasaharuShimizu, Chiba Institute of Technology, Japan
Masayuki Shimizu, Shizuoka University, Japan
Yuki Suga, Waseda University, Japan
Masaki Takahashi, Keio University, Japan
Sasaki Takeshi, Shizuoka University, Japan
Mary-Anne Williams, The University of Technology,
Sydney, Australia
Europe Jan Bender, TU Darmstadt, Germany
Antonio Chella, University of Palermo, Italy
Antonio Dominguez-Brito, University of Las Palmas
de Gran Canaria, Spain
Alessandro Farinelli, University of Southampton, UK
Martin Friedmann, TU Darmstadt, Germany
Holger Giese, Hasso Plattner Institute, Germany
Giuseppina Gini, Politecnico di Milano, Italy
Martin Huelse, University of Wales, UK
Luca Iocchi, University of Rome La Sapienza, Italy
Alexander Kleiner, Albert-Ludwigs-Universita¨t
Freiburg, Germany
Gerhard Kraetzschmar,Bonn-Rhein-Sieg University,
Germany
Jochen Maas, TU Braunschweig,Germany
Tekin Meric¸li, Bog¨azi¸ci University, Turkey
Olivier Michel, Cyberbotics, Switzerland
Rezia Molfino, University of Genoa, Italy
Maurizio Morisio, Politecnico di Torino, Italy
Antonio Sgorbissa,University of Genoa, Italy
Sergiu-Dan Stan, Technical University of Cluj-Napoca,
Romania
Sebastian Wrede, Bielefeld University, Germany
Cezary Zielinski, Warsaw University of Technology, Poland
Organization IX
Additional Reviewers
R. Balan R. Hebig A. Pretto Y. Suga
D. Calisi B. Johnston C.-R. Rad F. Tomassetti
M. Coman R.C. Keely M. Sartori T. Vogel
S. Ghidoni T. Lens A. Scalmato H. Wang
M. Go¨belbecker F.Mastrogiovanni F. Schaefer
Sponsoring Institutions
Graduate School of Computational Engineering and Research Training Group
on Cooperative, Adaptive and Responsive Monitoring in Mixed Mode Environ-
ments of Technische Universita¨t Darmstadt
Table of Contents
Invited Talks
Building Blocks for Mobile Manipulation (Abstract).................. 1
Brian P. Gerkey
Natural Human-Robot Interaction (Abstract)........................ 2
Takayuki Kanda
Robots and the Human (Abstract) ................................. 3
Oussama Khatib
The Modelica Object-Oriented Equation-Based Language and Its
OpenModelica Environment with MetaModeling, Interoperability, and
ParallelExecution ............................................... 5
Peter Fritzson
Simulation
Blender for Robotics: Integration into the Leuven Paradigm for Robot
Task Specification and Human Motion Estimation.................... 15
Koen Buys, Tinne De Laet, Ruben Smits, and Herman Bruyninckx
Simulating the C2SM ‘Fast’ Robot ................................. 26
Robert Codd-Downey, Michael Jenkin, Matthew Ansell,
Ho-Kong Ng, and Piotr Jasiobedzki
Extending Open Dynamics Engine for Robotics Simulation............ 38
Evan Drumwright, John Hsu, Nathan Koenig, and Dylan Shell
Virtual Robot Experimentation Platform V-REP: A Versatile 3D
Robot Simulator ................................................. 51
Marc Freese, Surya Singh, Fumio Ozaki, and Nobuto Matsuhira
Evaluation and Enhancement of Common Simulation Methods for
Robotic Range Sensors ........................................... 63
Martin Friedmann, Karen Petersen, and Oskar von Stryk
High Fidelity Sensor Simulations for the Virtual Autonomous
Navigation Environment .......................................... 75
Chris Goodin, Phillip J. Durst, Burhman Gates,
Chris Cummins, and Jody Priddy
GPS/Galileo Testbed Using a High Precision Optical Positioning
System ......................................................... 87
Robin Heß and Klaus Schilling
