Robotics Simulation: Snake Robot / Worm Robot in V-REP

The video shows the Virtual Robot Experimentation Platform (V-REP: http://www.v-rep.eu ) simulating a snake-like robot (or maybe rather worm-like!) composed by 48 active joints. Each of the 49 modules hast one pair of passive wheels under its belly.

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.

Category:

Science & Technology

Tags:

• Robotics
• Robot
• Simulator
• Simulation
• V-REP
• virtual
• robot
• experimentation
• platform
• snake
• worm
• distributed
• control
• inverse
• kinematics
• path
• planning
• Bullet
• ODE
• distance
• calculation
• collision
• checking
• image
• processing
• physics
• engine
• library