A Modular Simulation Platform for Training Robots via Deep Reinforcement Learning and Multibody Dynamics

Benatti, Simone; Tasora, Alessandro; Fusai, Dario; Mangoni, Dario

doi:10.1145/3365265.3365274

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2021

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“…An FMU is generated of the dynamics model to be compatible with the digital twin tool chain. However, Chrono has already interfaces to MATLAB, Simulink (MathWorks, Massachusetts, USA) and a Python-based module PyChrono [1] that alternatively could have been applied for the integration with the digital twin tool chain. FMI-enabling Chrono models allow for taking advantage of both the 3D dynamics capabilities in Chrono and the co-simulation capabilities through FMI-related tools.…”

Section: Discussion and Future Workmentioning

confidence: 99%