TY - JOUR
T1 - On the use of simulation in robotics
T2 - Opportunities, challenges, and suggestions formoving forward
AU - Choi, Hee Sun
AU - Crump, Cindy
AU - Duriez, Christian
AU - Elmquist, Asher
AU - Hager, Gregory
AU - Han, David
AU - Hearl, Frank
AU - Hodgins, Jessica
AU - Jain, Abhinandan
AU - Leve, Frederick
AU - Li, Chen
AU - Meier, Franziska
AU - Negrut, Dan
AU - Righetti, Ludovic
AU - Rodriguez, Alberto
AU - Tan, Jie
AU - Trinkle, Jeff
N1 - Publisher Copyright:
© 2021 National Academy of Sciences. All rights reserved.
PY - 2021/1/5
Y1 - 2021/1/5
N2 - 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.
AB - 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.
KW - Controls
KW - Design
KW - Machine learning
KW - Robotics
KW - Simulation
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U2 - 10.1073/pnas.1907856118
DO - 10.1073/pnas.1907856118
M3 - Review article
C2 - 33323524
AN - SCOPUS:85098229577
SN - 0027-8424
VL - 118
JO - Proceedings of the National Academy of Sciences of the United States of America
JF - Proceedings of the National Academy of Sciences of the United States of America
IS - 1
M1 - e1907856118
ER -