On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
Name
e1907856118.full.pdf
Description
Published version
Size
577.46 KB
Format
Adobe PDF
Checksum (MD5)
9cad9a662ff4d1fc8bb07b179086c179
Author(s)
Choi, HeeSun
Crump, Cindy
Duriez, Christian
Elmquist, Asher
Hager, Gregory
Han, David
Hearl, Frank
Hodgins, Jessica
Jain, Abhinandan
Leve, Frederick
Date Issued
2021
Journal
Proceedings of the National Academy of Sciences of the United States of America
Publisher
Proceedings of the National Academy of Sciences
Citation
Choi, HeeSun, Crump, Cindy, Duriez, Christian, Elmquist, Asher, Hager, Gregory et al. 2021. "On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward." Proceedings of the National Academy of Sciences of the United States of America, 118 (1).
Version
Final published version
Abstract
© 2021 National Academy of Sciences. All rights reserved. The last five years marked a surge in interest for and use of smart robots, which operate in dynamic and unstructured environments and might interact with humans. We posit that well-validated computer simulation can provide a virtual proving ground that in many cases is instrumental in understanding safely, faster, at lower costs, and more thoroughly how the robots of the future should be designed and controlled for safe operation and improved performance. Against this backdrop, we discuss how simulation can help in robotics, barriers that currently prevent its broad adoption, and potential steps that can eliminate some of these barriers. The points and recommendations made concern the following simulation-in-robotics aspects: simulation of the dynamics of the robot; simulation of the virtual world; simulation of the sensing of this virtual world; simulation of the interaction between the human and the robot; and, in less depth, simulation of the communication between robots. This Perspectives contribution summarizes the points of view that coalesced during a 2018 National Science Foundation/Department of Defense/National Institute for Standards and Technology workshop dedicated to the topic at hand. The meeting brought together participants from a range of organizations, disciplines, and application fields, with expertise at the intersection of robotics, machine learning, and physics-based simulation.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1073/PNAS.1907856118
