Optimized and Reconfigurable Environment for Simulation of Legged Robots.

The paper presents a reconfigurable simulator of legged robots. The simulator is based on the physics engines which model the motion of rigid bodies. The goal of this research is to design reliable tool for verification new control concepts for various types of legged robots. To this end, the new architecture of robot's configuration scheme is proposed. The new hierarchical structure of the description files allows to re-use mechanical parts of existing robots and rapidly prototype new mechanical systems. We also propose the optimization method which increases the stability of the simulator. The simulator tuning technique allows to find the set of parameters and reduce the discrepancy between the simulated and the real robot.