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

Povzetek

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.

Ključne besede

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

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.08 - Objavljeni znanstveni prispevek na konferenci
Organizacija: UL FS - Fakulteta za strojništvo
UDK: 007.52
COBISS: 95688963 Povezava se bo odprla v novem oknu
ISSN: 2212-8271
Št. ogledov: 169
Št. prenosov: 62
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Slovenski jezik
Sekundarne ključne besede: robotika;simulacija;strojno učenje;spodbujevalno učenje;digitalni dvojčki;
Vrsta dela (COBISS): Članek v reviji
Strani: str. 336-341
Zvezek: ǂVol. ǂ104
Čas izdaje: 2021
DOI: 10.1016/j.procir.2021.11.057
ID: 14408409