Скачать или смотреть Robotics Simulator: Amphibious Snake Robot in V-REP

The video shows the Virtual Robot Experimentation Platform (V-REP: http://www.coppeliarobotics.com ) simulating the ACM-R5H snake-like robot. The ACM-R5H is controlled in a distributed fashion (each module has its own control script, like the real robot). The ACM-R5H CAD model is courtesy of Hibot Corporation ( http://www.hibot.co.jp )

Following is V-REP's functionality: distributed control (unlimited concurrently running threaded or non-threaded scripts directly attached to objects or models), inverse kinematics (any mechanism, closed, redundant, with nested loops, etc.), dynamics (in V-REP the user can switch at any time from the Bullet Physics library to the Open Dynamics Engine, both are supported), proximity sensors (exact minimum mesh distance calculation within a customizable detection volume), camera-like sensors (with a large amount of available filter components that can be combined to achieve image processing), exact minimum mesh-mesh distance calculation (for any type of mesh, also concave, open, polygon soup, etc.), elaborate graphing possibilities, fast mesh-mesh interference checking, holonomic path planning in 2-6 dimensions and non-holonomic path planning for car-like vehicles, unlimited number of custom user interfaces with integrated edit-mode, integrated shape edit modes (triangle, vertex and edge), surface cutting simulation, etc.

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