anyKode Marilou is a modeling and
simulation environment for mobile robots, humanoids, articulated arms and parallel robots operating in real-world conditions that respect the laws of physics. This robotics suite is used in research centers and industry for various projects like humanoid architectures, wheeled and multi legged vehicles, and multi-robot systems (Multi-agents).
It also has a real-time engine that uses the ODE (
Open Dynamics Engine) for collisions detecting and dynamics management. Various 'real world' variables like forces, torques, masses, damping, friction and others can be adjusted directly to the objects surfaces.
Scenes modeling
The entities' editor can design the robot's collision model by using any of the static or dynamic objects in the given simulated world.
CAD
Computer-aided design (CAD) is the use of computers (or ) to aid in the creation, modification, analysis, or optimization of a design. This software is used to increase the productivity of the designer, improve the quality of design, improve co ...
-style editing tools are entirely graphical.
Scenes, dynamics, and robots properties can be changed from a view/document/properties IHM style. Also, the editor takes in charge re-usable physicals entities as well as pure 3D models.
Marilou uses a hierarchical system to present entire objects at the highest level (the current world). This approach makes it possible to reuse members of a complex object as sub-parts of another object.
Key features
* Graphical handling of robots and environments models (physics parts and 3D models)
* Modeling helpers, Refactoring tools, several documents and viewpoints
* Rigid bodies, n-axis constraints and springs
* Mechanical constraints
* Surface properties (reflection, shock, friction, incidence, rebound, behavior with infra-red or ultrasound …)
* Hierarchy and complex assemblies
* Real-time or accelerated simulations (RT-Multiplier)
* Multi-robots, multiple embedded applications, centralized or distributed
* Acquisition/measurement cycles as low as 1 ms
* Interactions with running
simulation
* 3D rendering using pixel and
vertex shaders
* Spot, Point, Ambient and Directional lights
* Dynamic shadowing
* Physics Editor for Windows, Exec (the simulator) for Windows, Ubuntu, and Mint (BETA)
Devices
Marilou includes a complete set of user-modifiable virtual devices. The behavior of these devices may be overridden by the properties of real devices available in robotics. This feature allows the programmer to use a known device's parameters directly.
This is a list of supported devices types:
* Embedded robotic components
* Absolute Compass
* Actuating cylinders / jack
*
Accelerometers/Gyro-meters/
Gyroscope
A gyroscope (from Ancient Greek γῦρος ''gŷros'', "round" and σκοπέω ''skopéō'', "to look") is a device used for measuring or maintaining orientation and angular velocity. It is a spinning wheel or disc in which the axis of rota ...
* Air pressure forces
*
Bumper
Bumper or Bumpers may refer to:
People
* Betty Bumpers (1925-2018), American activist, First Lady of Arkansas, wife of Dale Bumpers
* Dale Bumpers (1925–2016), American politician, governor of Arkansas and senator
* Bumper Robinson (born 197 ...
s
* Distance sensors (Ultrasonic, Infra Red and Laser)
*
Motors and servo motors
* Emitters and receivers
* Force and Torque sensors
* GPS
*
Laser range finders
* LED
*
LCD
A liquid-crystal display (LCD) is a flat-panel display or other electronically modulated optical device that uses the light-modulating properties of liquid crystals combined with polarizers. Liquid crystals do not emit light directly but in ...
display
* Light Sources
*
Lidar
Lidar (, also LIDAR, or LiDAR; sometimes LADAR) is a method for determining ranges (variable distance) by targeting an object or a surface with a laser and measuring the time for the reflected light to return to the receiver. It can also be ...
(3D-Scanner)
*
Odometer
An odometer or odograph is an instrument used for measuring the distance traveled by a vehicle, such as a bicycle or car. The device may be electronic, mechanical, or a combination of the two (electromechanical). The noun derives from ancient Gr ...
s
* Standard and panoramic spherical Cameras (
Panoramic camera)
* Touch area
Robots programming
MODA (Marilou Open Devices Access) is the Marilou generic SDK for handling simulated robots and their embedded devices, such as sensors and actuators. Depending on chosen language, MODA provides libraries (.lib /.a) or .Net assembly (.dll) for accessing simulation over the network. Synchronized to a simulated clock, algorithms can run on any computer in the network. Individual robots may run several programs. In addition, one MODA program can control numerous robots, whether they be in the same world. MODA TCP server can be embedded in real robot.
* Languages:
C /
C++,
C++ CLI
C, or c, is the third letter in the Latin alphabet, used in the modern English alphabet, the alphabets of other western European languages and others worldwide. Its name in English is ''cee'' (pronounced ), plural ''cees''.
History
"C" ...
,
C#,
J#,
VB#
* Compilers: Microsoft
Visual Studio suites, DevC++,
Borland
Borland Software Corporation was a computer technology company founded in 1983 by Niels Jensen, Ole Henriksen, Mogens Glad and Philippe Kahn. Its main business was the development and sale of software development and software deployment product ...
C++ RAD Studio, G++ for Linux,
CodeBlocks
* MODA is open-source and compatible with Linux (Mac coming soon)
See also
*
Robot
*
Robotics simulator
*
Robotics suite
References
Biomedical / Simulation*
ttp://cat.inist.fr/?aModele=afficheN&cpsidt=22217650 Brain Computer Interface (French)Command of a simulated wheelchair on a virtual environment Programming a virtual robot with RT-Maps
Robotics simulation software