Multi-rigid body dynamics simulation supports design, prototype, test, and evolutionary stages of robotic development. However, the reliability of simulating tasks critical to robotics, i.e. grasping and locomotion, remains low and represents a barrier to future robotics applications. A lack of simulation reliability is typically exhibited by a simulated robot performing a task while under similar conditions the real system fails to perform that same task. Simulations that are not reliable may mislead roboticists into costly, infeasible designs or give false safety assurances of systems where safety is paramount, e.g. autonomous vehicles. Roboticists therefore need assurances that simulation will either consistently predict real performance or indicate that it can not make sound predictions. General software engineering proposes verification and validation as practices for quality assurance. In simulation software, verification checks that implementation is consistent with theory, and validation checks that simulation is consistent with real behaviors. While verification is critical, validation is necessary to objectively demonstrate simulation consistency.
This thesis studies validation of multi-body rigid body dynamics simulations with contact and friction in an effort to improve the state of the art in robotics simulation. This work identifies scenarios relevant to robotics tasks, examines simulators performing these tasks, and identifies ways that current simulators should be used and future simulators should be improved. Additionally, this work identifies temporal consistency as a critical requirement for robotics simulators, proposes a temporally consistent simulator architecture, and studies the performance difference between temporally consistent and existing robotics simulators. Finally, this work studies the motion of a minimally simple, yet still sophisticated, real world robot that we can model and examines a means to validate simulation of the robot.
|Advisor:||Drumwright, Evan, Narahari, Bhagirath|
|Commitee:||Mitiguy, Paul, Parmer, Gabriel, Pless, Robert|
|School:||The George Washington University|
|School Location:||United States -- District of Columbia|
|Source:||DAI-B 79/12(E), Dissertation Abstracts International|
|Subjects:||Robotics, Computer science|
|Keywords:||Motion capture, Robotics, Simulation, Temporal consistency, Validation|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be