![]() Some interesting examples can be found in the Webots Guided Tour (menu: Help->Webots Guided Tour). Many types of robots can be simulated with Webots: and this includes wheeled, legged, flying and swimming robots. However, all sensors and actuators are affected by a realistic amount of noise so that the transfer from simulation to the real robot is usually quite smooth. ![]() The choice of the level of simulation is a trade-off between simulation speed and simulation realism. ![]() Webots can either simulate the physics of the world and the robots (nonlinear friction, slipping, mass distribution, etc.) or simply the kinematic laws. Figure 1-2: Overview of Webots principles. Then, the robot controllers can be transferred to real robots (see Figure 1-2). Webots allows the experimenter to design, program and simulate virtual robots which act and sense in a 3D environment. Other basic features are: significant processing power (dspic 30F6014 from Microchip running at 30 MHz), programmable using the standard gcc compilation tools, energetic autonomy of about 2-3 hours of intensive use (with no additional turrets), an extension bus, a belt of eight light and proximity sensors, a 3- axis accelerometer, three microphones, a speaker, a color camera with a resolution of YB, Swarm Intelligence, Lab+Hwk 3: Intro to the Webots Robotic Simulation Software 1ģ 1.3 Webots Webots is a fast prototyping and simulation software developed by Cyberbotics Ltd., a spin-off company from. More information about the e-puck project is available at The e-puck's most distinguishing characteristic is its small size (7 cm in diameter). Figure 1-1 shows a close-up of the e-puck robot. Please use this notation in your answer file! 1.2 The e-puck The e-puck is a miniature mobile robot developed to perform desktop experiments for educational purposes. The notation I x means that the problem has to be solved by implementing a piece of code and performing a simulation the code written for these questions must be submitted in your Additional Material. The length of answers should be approximately two sentences unless otherwise noted. The notation Q x means that the question can be answered theoretically, without any simulation your answers to these questions must be submitted in your report. The notation S x means that the question can be solved using only additional simulation you are not required to write or produce anything for these questions. 1.1 Grading In the following text you will find several exercises and questions. The more advanced notice you can give in these situations, the more likely it is that we will be able to work something out. If there are extreme circumstances which will prevent you from attending a particular lab session, it may be possible to make arrangements with the TAs before the lab in question takes place. Keep in mind that no late solutions will be accepted unless supported by health reasons (and a note from the doctor). ![]() If you have additional material (movies, code, and any other relevant files), upload a _ archive instead with all files, including the report (hint: tar cvzf _ ). Please format your solution as a PDF file with the name _lab.pdf, where is your account user name and is the number of the lab+homework assignment, and upload it as the Report submission onto Moodle. The report for this laboratory and homework will be due on the first Monday after your lab session, at 12 noon. 1 1 Lab + Hwk 3: Introduction to the Webots Robotics Simulation Software This laboratory requires the following software (installed in BC07/08 (Linux)): Webots simulator C development tools (gcc, make, etc.) The laboratory duration is about 3 hours. ![]()
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