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http://dx.doi.org/10.5302/J.ICROS.2013.12.1823

Design of a Robot-in-the-Loop Simulation Based on OPRoS  

Kim, Seong-Hoon (Kangwon National University)
Park, Hong Seong (Kangwon National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.3, 2013 , pp. 248-255 More about this Journal
Abstract
This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.
Keywords
OPRoS; simulation; HILS; RILS; HIL driver; synchronization;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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