Rok Vrabič (Author), Gašper Škulj (Author), Andreja Malus (Author), Dominik Kozjek (Author), Luka Selak (Author), Drago Bračun (Author), Primož Podržaj (Author)

Abstract

Research in the area of robotic systems has greatly benefited from the use of simulation models. Recent approaches allow the transfer of developed algorithms from simulation to reality (sim-to-real) and increasingly accurate representations of real systems as simulation models (real-to-sim). The paper presents an architecture based on open software that supports simultaneous experiments on real robots and their simulation models. Two illustrative examples are shown: a digital twin of an industrial robot and a sim-to-real transfer in an autonomous mobile robot system. The possibilities of future research on the interaction between robotic systems and their simulation models are discussed.

Keywords

robotika;simulacija;strojno učenje;spodbujevalno učenje;digitalni dvojčki;robotics;simulation;machine learning;reinforcement learning;digital twin;

Data

Language: English
Year of publishing:
Typology: 1.08 - Published Scientific Conference Contribution
Organization: UL FS - Faculty of Mechanical Engineering
UDC: 007.52
COBISS: 95688963 Link will open in a new window
ISSN: 2212-8271
Views: 169
Downloads: 62
Average score: 0 (0 votes)
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Other data

Secondary language: Slovenian
Secondary keywords: robotika;simulacija;strojno učenje;spodbujevalno učenje;digitalni dvojčki;
Type (COBISS): Article
Pages: str. 336-341
Issue: ǂVol. ǂ104
Chronology: 2021
DOI: 10.1016/j.procir.2021.11.057
ID: 14408409