blocks|key|5344009|text|这让我想起了breve项目。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|5344010|5344011|+breve是一个免费的开源软件包，可以轻松构建多智能体系统和人工生命的3D模拟。|blockquote|5344012|5344013|5344014|还有一个wikipage列表Robotics+simulators|5344015|entityMap|0|LINK|mutability|MUTABLE|url|http://www.spiderland.org/node/2598|1|http://en.wikipedia.org/wiki/Robotics_simulator^0|6|5|0|0|0|0|0|0|E|J|1|0^^$0|@$1|2|3|4|5|6|7|V|8|@]|9|@$A|W|B|X|1|Y]]|C|$]]|$1|D|3|-4|5|6|7|Z|8|@]|9|@]|C|$]]|$1|E|3|F|5|G|7|10|8|@]|9|@]|C|$]]|$1|H|3|-4|5|6|7|11|8|@]|9|@]|C|$]]|$1|I|3|-4|5|6|7|12|8|@]|9|@]|C|$]]|$1|J|3|K|5|6|7|13|8|@]|9|@$A|14|B|15|1|16]]|C|$]]|$1|L|3|-4|5|6|7|17|8|@]|9|@]|C|$]]]|M|$N|$5|O|P|Q|C|$R|S]]|T|$5|O|P|Q|C|$R|U]]]]

This made me remember the <a href="http://www.spiderland.org/node/2598" rel="nofollow noreferrer">breve</a> project.

<blockquote>
 breve is a free, open-source software package which makes it easy to build 3D simulations of multi-agent systems and artificial life.
</blockquote>

There is also a wikipage listing <a href="http://en.wikipedia.org/wiki/Robotics_simulator" rel="nofollow noreferrer">Robotics simulators</a>

blocks|key|5344329|text|ROS将可视化你的机器人和你从它记录的任何数据。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|5344330|要检查的包将是rviz和nav_view|style|CODE|5344331|entityMap|0|LINK|mutability|MUTABLE|url|http://www.ros.org/^0|0|3|0|0|7|4|C|8|0^^$0|@$1|2|3|4|5|6|7|P|8|@]|9|@$A|Q|B|R|1|S]]|C|$]]|$1|D|3|E|5|6|7|T|8|@$A|U|B|V|F|G]|$A|W|B|X|F|G]]|9|@]|C|$]]|$1|H|3|-4|5|6|7|Y|8|@]|9|@]|C|$]]]|I|$J|$5|K|L|M|C|$N|O]]]]

<a href="http://www.ros.org" rel="nofollow noreferrer">ROS</a> will visualize your robot and any data you've recorded from it. 

Packages to check out would <code>rviz</code> and <code>nav_view</code>

blocks|key|801037|text|Microsoft+Robotics+Studio/Microsoft+Robotics+Developer+Studio+2008|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|801038|还可以阅读MSDN+Magazine上的this文章|801039|entityMap|0|LINK|mutability|MUTABLE|url|http://msdn.microsoft.com/en-us/robotics/default.aspx|1|http://msdn.microsoft.com/en-us/magazine/cc546547.aspx^0|0|1U|0|0|K|4|1|0^^$0|@$1|2|3|4|5|6|7|P|8|@]|9|@$A|Q|B|R|1|S]]|C|$]]|$1|D|3|E|5|6|7|T|8|@]|9|@$A|U|B|V|1|W]]|C|$]]|$1|F|3|-4|5|6|7|X|8|@]|9|@]|C|$]]]|G|$H|$5|I|J|K|C|$L|M]]|N|$5|I|J|K|C|$L|O]]]]

<a href="http://msdn.microsoft.com/en-us/robotics/default.aspx" rel="nofollow noreferrer">Microsoft Robotics Studio/Microsoft Robotics Developer Studio 2008</a>

Also read <a href="http://msdn.microsoft.com/en-us/magazine/cc546547.aspx" rel="nofollow noreferrer">this</a> article on MSDN Magazine

blocks|key|3089087|text|这完全取决于您要对模拟执行什么操作。我做腿部机器人模拟，我来自一个与移动机器人不同的角度，但是…|type|unstyled|depth|inlineStyleRanges|entityRanges|data|3089088|如果你对动力学感兴趣，那么最古老但最难使用的是sd/fast。最初制造它的公司被一家大型cad公司收购了。您可以尝试访问：http://www.sdfast.com/|offset|length|3089089|这会花费你一些钱，但我相信模拟的准确性。没有接触或碰撞模型，所以你必须自己滚动。我已经使用它来模拟两足动物、游动的鱼等。也没有可视化。所以，它是为铁杆程序员准备的。然而，它在我们老年人中很受尊重。|3089090|people+http://www.ode.org/使用OpenDynamics引擎进行“更简单”的模拟。它附带了一个集成器和一个原始的可视化包。有python绑定(python万岁！)。|3089091|内置摩擦模型..是..。嗯，并没有很好的记录。没有任何意义。此外，模拟可能会突然“飞散”，而没有明显的原因。模拟可能是准确的，也可能不准确。|3089092|现在，MapleSoft+(位于美丽的加拿大滑铁卢)推出了maplesim。它会花你一些钱，但这是我喜欢它的地方：|3089093|它超越了机器人技术。你几乎可以做任何事。我相信你可以在汽车，齿轮，发动机上模拟悬架系统。我认为它甚至与电路模拟接口。因此，如果你正在构建一个高性能的产品，那么MapleSim是一个强有力的竞争者。转到www.maplesoft.com并搜索它。|3089094|他们很乐意给你一份30天的评估副本。|3089095|当然，你可以回家喝啤酒。您可以使用像maple或mathematica这样的符号计算程序来求解大多数简单机器人的拉格朗日-欧拉运动方程。编辑:不能优雅地在Maple中做某些衍生工具。我不得不求助于黑客。|3089096|但是，要注意速度问题。|3089097|最后，对于更具生物学动机的工作，您可能想看看opensim+(不要与OpenSimulator混淆)。|3089098|编辑:+OpenSim与SD/Fast共享一个团队成员。|3089099|还有很多其他专门的模拟器。但是，要当心。|3089100|总而言之，以下是面向机器人工作的模拟器的评估标准：|3089101|(1)您有哪种碰撞模型？如果这是一个非常僵硬的弹性碰撞，你可能会在碰撞过程中遇到数值稳定性问题(2)可视化-你能添加不同的地形吗，等等。(3)方便的图形化构建工具，这样你就不用编写代码了，然后看看你得到了什么。处理复杂的系统(比方说一个全尺寸的人形机器人)在你的脑海里是很难想象的。|3089102|(4)底层仿真算法的复杂度是多少。如果是O(N)，那就太好了。但它可以是O(N%5E4)，就像直线拉格朗日-欧拉推导的情况一样…那么无论你的机器有多快，你的系统都不会伸缩。|3089103|(5)它有多准确，你关心吗？(6)它能帮助你集成传感器吗？对于移动机器人，你需要有一个“机器人眼睛”(7)如果它能进行可视化，你能做一些事情，比如当物体移动时自动跟踪它，还是你必须到处追赶它？|3089104|希望这能有所帮助！|3089105|entityMap|0|LINK|mutability|MUTABLE|url|http://www.sdfast.com/|1|http://www.ode.org/^0|0|1P|M|0|0|0|7|J|1|0|0|0|0|0|0|0|0|0|0|0|0|0|0|0^^$0|@$1|2|3|4|5|6|7|1L|8|@]|9|@]|A|$]]|$1|B|3|C|5|6|7|1M|8|@]|9|@$D|1N|E|1O|1|1P]]|A|$]]|$1|F|3|G|5|6|7|1Q|8|@]|9|@]|A|$]]|$1|H|3|I|5|6|7|1R|8|@]|9|@$D|1S|E|1T|1|1U]]|A|$]]|$1|J|3|K|5|6|7|1V|8|@]|9|@]|A|$]]|$1|L|3|M|5|6|7|1W|8|@]|9|@]|A|$]]|$1|N|3|O|5|6|7|1X|8|@]|9|@]|A|$]]|$1|P|3|Q|5|6|7|1Y|8|@]|9|@]|A|$]]|$1|R|3|S|5|6|7|1Z|8|@]|9|@]|A|$]]|$1|T|3|U|5|6|7|20|8|@]|9|@]|A|$]]|$1|V|3|W|5|6|7|21|8|@]|9|@]|A|$]]|$1|X|3|Y|5|6|7|22|8|@]|9|@]|A|$]]|$1|Z|3|10|5|6|7|23|8|@]|9|@]|A|$]]|$1|11|3|12|5|6|7|24|8|@]|9|@]|A|$]]|$1|13|3|14|5|6|7|25|8|@]|9|@]|A|$]]|$1|15|3|16|5|6|7|26|8|@]|9|@]|A|$]]|$1|17|3|18|5|6|7|27|8|@]|9|@]|A|$]]|$1|19|3|1A|5|6|7|28|8|@]|9|@]|A|$]]|$1|1B|3|-4|5|6|7|29|8|@]|9|@]|A|$]]]|1C|$1D|$5|1E|1F|1G|A|$1H|1I]]|1J|$5|1E|1F|1G|A|$1H|1K]]]]

It all depends on what you want to do with the simulation.
I do legged robot simulation, I am coming from a perspective that is different than mobile robotics, but...

If you are interested in dynamics, then the one of the oldest but most difficult to use is sd/fast. The company that originally made it was acquired by a large cad outfit.
You might try heading to : <a href="http://www.sdfast.com/" rel="nofollow">http://www.sdfast.com/</a> 
It will cost you a bit of money, but I trust the accuracy of the simulation. There is no contact or collision model, so you have to roll you own. I have used it to simulate bipeds, swimming fish, etc.. There is also no visualization. So, it is for the hardcore programmer. However, it is well respected among us old folk.

OpenDynamics engine is used by people <a href="http://www.ode.org/" rel="nofollow">http://www.ode.org/</a> for "easier" simulation. It comes with an integrator and a primitive visualization package. There are python binding (Hurray for python!).

The build in friction model.. is ... well not very well documented. And did not make sense. Also, the simulations can suddenly "fly apart" for no apparent reason. The simulations may or may not be accurate. 

Now, MapleSoft (in beautiful Waterloo Canada) has come out with maplesim. It will set you back a bit of money but here is what I like about it:

It goes beyond just robotics. You can virtually anything. I am sure you can simulate the suspension system on a car, gears, engines... I think it even interfaces with electrical circuit simulation. So, if you are building a high performance product, than MapleSim is a strong contender. Goto www.maplesoft.com and search for it.

They are pretty nice about giving you an eval copy for 30 days.

Of course, you can go home brew. You can solve the Lagrange-Euler equations of motion for most simple robots using a symbolic computation program like maple or mathematica. 
EDIT: Have not be able to elegantly do certain derivatives in Maple. I have to resort to a hack.

However, be aware of speed issue.

Finally for more biologically motivated work, you might want to look at opensim (not to be confused with OpenSimulator).

EDIT: OpenSim shares a team member with SD/Fast. 

There a lots of other specialized simulators. But, beware. 

In sum here are the evaluation criteria for a simulator for robot oriented work:

(1) What kind of collision model do you have ? If it is a very stiff elastic collision, you may have problem in numerical stability during collisions
(2) Visualization- Can you add different terrains, etc.. 
(3) Handy graphical building tools so you don't have to code then see-what-you-get.
Handling complex system (say a full scale humanoid) is hard to think about in your head.

(4) What is the complexity of the underlying simulation algorithm. If it is O(N) then that is great. But it could be O(N^4) as would be the case for a straight Lagrange-Euler derivation... then your system just will not scale no matter how fast your machine.

(5) How accurate is it and do you care?
(6) Does it help you integrate sensors. For mobile robots you need to have a "robot-eyes view" 
(7) If it does visualization, can it you do things like automatically follow the object as it is moving or do you have to chase it around?

Hope that helps!

blocks|key|5344072|text|它看起来不像Webot那样令人印象深刻，但RobotBasic是免费的，易于学习，并且对于制作简单的机器人移动算法很有用。您也可以从集成开发环境中编写BasicStamp。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|5344073|entityMap|0|LINK|mutability|MUTABLE|url|http://www.robotbasic.org/^0|L|A|0|0^^$0|@$1|2|3|4|5|6|7|L|8|@]|9|@$A|M|B|N|1|O]]|C|$]]|$1|D|3|-4|5|6|7|P|8|@]|9|@]|C|$]]]|E|$F|$5|G|H|I|C|$J|K]]]]

It's not as impressive looking as Webots, but <a href="http://www.robotbasic.org/" rel="nofollow noreferrer">RobotBasic</a> is free, easy to learn, and useful for prototyping simple robot movement algorithms. You can also program a BasicStamp from the IDE.

blocks|key|3089013|text|我一直在针对SimSpark进行编程。它是RoboCup+3D+Simulated+Soccer+League背后的开源模拟引擎。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|3089014|它对于不同的模拟是可扩展的。您可以使用C%2B%2B、Ruby和/或RSG+(Ruby场景图)文件插入您自己的传感器、执行器和模型。|3089015|entityMap|0|LINK|mutability|MUTABLE|url|http://simspark.sourceforge.net/wiki/index.php/Main_Page|1|http://en.wikipedia.org/wiki/RoboCup_3D_Soccer_Simulation_League^0|6|8|0|L|Y|1|0|0^^$0|@$1|2|3|4|5|6|7|P|8|@]|9|@$A|Q|B|R|1|S]|$A|T|B|U|1|V]]|C|$]]|$1|D|3|E|5|6|7|W|8|@]|9|@]|C|$]]|$1|F|3|-4|5|6|7|X|8|@]|9|@]|C|$]]]|G|$H|$5|I|J|K|C|$L|M]]|N|$5|I|J|K|C|$L|O]]]]

I've been programming against <a href="http://simspark.sourceforge.net/wiki/index.php/Main_Page" rel="nofollow noreferrer">SimSpark</a>. It's the open-source simulation engine behind the <a href="http://en.wikipedia.org/wiki/RoboCup_3D_Soccer_Simulation_League" rel="nofollow noreferrer">RoboCup 3D Simulated Soccer League</a>.

It's extensible for different simulations. You can plug in your own sensors, actuators and models using C++, Ruby and/or RSG (Ruby Scene Graph) files.

blocks|key|3088844|text|ABB有一个相当不错的解决方案，叫做RobotStudio，用于模拟他们的大型工业机器人。我不认为它是免费的，我猜你也不会从中获得太多乐趣，但它是相当令人印象深刻的。Here's+a+page+about+it|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|3088845|entityMap|0|LINK|mutability|MUTABLE|url|http://www.abb.com/product/seitp327/78fb236cae7e605dc1256f1e002a892c.aspx^0|2B|M|0|0^^$0|@$1|2|3|4|5|6|7|L|8|@]|9|@$A|M|B|N|1|O]]|C|$]]|$1|D|3|-4|5|6|7|P|8|@]|9|@]|C|$]]]|E|$F|$5|G|H|I|C|$J|K]]]]

ABB has a quite a solution called RobotStudio for simulating their huge industrial robots. I don't think it's free and I don't guess you'll get much fun out of it but it's quite impressive. <a href="http://www.abb.com/product/seitp327/78fb236cae7e605dc1256f1e002a892c.aspx" rel="nofollow noreferrer">Here's a page about it</a>

blocks|key|3088902|text|我一直在与Carmen+http://carmen.sourceforge.net/合作，并发现它很有用。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|3088903|Carmen的缺点之一是文档，恕我直言，我认为这个网页有点过时和不足。因此，我喜欢听到其他有与Carmen合作经验的人的意见，或者与Carmen相关的学生报告/项目。|3088904|entityMap|0|LINK|mutability|MUTABLE|url|http://carmen.sourceforge.net/^0|C|U|0|0|0^^$0|@$1|2|3|4|5|6|7|N|8|@]|9|@$A|O|B|P|1|Q]]|C|$]]|$1|D|3|E|5|6|7|R|8|@]|9|@]|C|$]]|$1|F|3|-4|5|6|7|S|8|@]|9|@]|C|$]]]|G|$H|$5|I|J|K|C|$L|M]]]]

I have been working with Carmen <a href="http://carmen.sourceforge.net/" rel="nofollow noreferrer">http://carmen.sourceforge.net/</a> and find it useful. 

One of the disadvantages with Carmen is the documentation with all respect I think the webpage is a bit outdated and insufficient. So I like to hear from other people with experience in working with Carmen, or student reports/projects dealing with Carmen.

blocks|key|5344567|text|您可以在模拟环境http://www.intorobotics.com/robotics-simulation-softwares-with-3d-modeling-and-programming-support/中找到一个很棒的列表|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|5344568|MRDS是最好的之一，而且是免费的。此外，LabView很适合在机器人中使用|5344569|entityMap|0|LINK|mutability|MUTABLE|url|http://www.intorobotics.com/robotics-simulation-softwares-with-3d-modeling-and-programming-support/^0|8|2R|0|0|0^^$0|@$1|2|3|4|5|6|7|N|8|@]|9|@$A|O|B|P|1|Q]]|C|$]]|$1|D|3|E|5|6|7|R|8|@]|9|@]|C|$]]|$1|F|3|-4|5|6|7|S|8|@]|9|@]|C|$]]]|G|$H|$5|I|J|K|C|$L|M]]]]

You can find a great list with simulation environments <a href="http://www.intorobotics.com/robotics-simulation-softwares-with-3d-modeling-and-programming-support/" rel="nofollow">http://www.intorobotics.com/robotics-simulation-softwares-with-3d-modeling-and-programming-support/</a>

MRDS is one of the best and it's free. Also LabView is good to be used in robotcs

blocks|key|797135|text|美国国家仪器公司的LabView是一个图形化编程环境，用于开发测量、测试和控制系统。它可用于SolidWorks的三维控制simulation。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|797136|entityMap|0|LINK|mutability|MUTABLE|url|http://www.ni.com/labview/|1|http://cnx.org/content/m12977/latest/^0|9|7|0|1P|A|1|0^^$0|@$1|2|3|4|5|6|7|N|8|@]|9|@$A|O|B|P|1|Q]|$A|R|B|S|1|T]]|C|$]]|$1|D|3|-4|5|6|7|U|8|@]|9|@]|C|$]]]|E|$F|$5|G|H|I|C|$J|K]]|L|$5|G|H|I|C|$J|M]]]]

National Instruments' <a href="http://www.ni.com/labview/" rel="nofollow noreferrer">LabView</a> is a graphical programming environment for developing measurement, test, and control systems.
It could be used for 3D control <a href="http://cnx.org/content/m12977/latest/" rel="nofollow noreferrer">simulation</a> with SolidWorks.

blocks|key|3935173|text|MRDS是免费的，是机器人最好的仿真环境之一。也可以使用工作空间，如果您想要使用robotics+simulation+software的完整列表，请选中此链接|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|3935174|entityMap|0|LINK|mutability|MUTABLE|url|http://www.smashingrobotics.com/most-advanced-and-used-robotics-simulation-software/^0|14|S|0|0^^$0|@$1|2|3|4|5|6|7|L|8|@]|9|@$A|M|B|N|1|O]]|C|$]]|$1|D|3|-4|5|6|7|P|8|@]|9|@]|C|$]]]|E|$F|$5|G|H|I|C|$J|K]]]]

MRDS is free and is one of the best simulation environment for robotics. Workspace also can be used, and please check this link if you want a complete list with <a href="http://www.smashingrobotics.com/most-advanced-and-used-robotics-simulation-software/" rel="nofollow">robotics simulation software</a>

blocks|key|3935247|text|Trik+Studio有一个漂亮而清晰的2D模型模拟器，也有可视化和文本编程环境。他们还将很快支持基于Morse模拟器的3D建模工具。此外，它是免费和开源的，并具有多语言界面。|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|3935248|entityMap|0|LINK|mutability|MUTABLE|url|http://robots.qreal.ru/|1|http://www.openrobots.org/wiki/morse/^0|0|B|0|1F|5|1|0^^$0|@$1|2|3|4|5|6|7|N|8|@]|9|@$A|O|B|P|1|Q]|$A|R|B|S|1|T]]|C|$]]|$1|D|3|-4|5|6|7|U|8|@]|9|@]|C|$]]]|E|$F|$5|G|H|I|C|$J|K]]|L|$5|G|H|I|C|$J|M]]]]

<a href="http://robots.qreal.ru/" rel="nofollow">Trik Studio</a> has a nice and clear 2D model simulator and also visual and textual programming programming environments for them. They also soon will support 3D modeling tools based on <a href="http://www.openrobots.org/wiki/morse/" rel="nofollow">Morse</a> simulator. Also it is free and opensource and has multi-language interface.

I would like to make a list of remarkable robot simulation environments including advantages and disadvantages of them. Some examples I know of are <a href="http://www.cyberbotics.com/" rel="noreferrer">Webots</a> and <a href="http://playerstage.sourceforge.net/" rel="noreferrer">Player/Stage</a>.

Robot simulation environments

翻译质量差，导致语言生硬或混乱。

没有提供实际的解决方法或示例。

解答不清晰，无法理解或解决问题。

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功能1上新10个字符

功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符功能2描述100个字符。

功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符功能2上新100个字符。

功能5描述100个字符功能5描述100个字符功能5描述100个字符功能5描述100个字符功能5描述100个字符功能5描述100个字符

功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符功能5上新100个字符

功能4上新

文章&问答评论现已支持表情

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社区富文本编辑器全新改版！诚邀体验～ 

精选全网热门MCP server，让你的AI更好用 🚀

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聚焦“写作效率、视觉美观与运行性能”三方面进行全面升级，为您提供更高效、稳定的创作环境

社区富文本&Markdown编辑器全新改版上线，欢迎大家体验!

诚挚邀请您参与本次调研，分享您的真实使用感受与建议。您的反馈至关重要，感谢您的支持与参与！

社区新版编辑器体验调研

我想列出一些出色的机器人模拟环境，包括它们的优点和缺点。我知道的一些例子是和。

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回答 12

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回答 12

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