3D MODELS OF HUMANOID SOCCER ROBOT IN USARSim AND ROBOTICS STUDIO SIMULATORS

This paper describes our experience in the simulation of humanoid soccer robots usingtwo general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio.We address the problem of the simulation of a soccer match among two teams of smallhumanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paperreports the implementation of the virtual models of the Robovie-M humanoid robotplatform in the two simulators. Robovie-M was the robot used by our team \Artisti"in the RoboCup 2006 competitions. This paper focuses on the procedures needed toimplement the virtual models of the robot and in the details of the models. We describeexperiments assessing the feasibility and the delity of the two simulators.