qiBullet，一个基于子弹的Pepper和NAO机器人模拟器
qiBullet, a Bullet-based simulator for the Pepper and NAO robots
摘要：
Pepper和NAO机器人广泛用于店内清洁和教育，也可作为研究目的的机器人平台。他们在学术领域的存在是通过各种出版物，多个合作项目，并通过两个不同的RoboCup联赛的标准平台表达。开发、收集数据和训练人形机器人可能是乏味的：反复重复特定任务可能会给机器人带来风险，而且某些环境可能很难设置。因此，允许模拟复杂环境和机器人动力学的软件工具可以缓解这个问题，允许在虚拟模型上执行上述过程。Pepper和NAO平台目前的一个缺点是缺乏物理上精确的仿真工具，允许在虚拟机器人上测试涉及重复运动和与环境接触的场景。在本文中，我们介绍了qiBullet仿真工具，使用Bullet物理引擎为Pepper和NAO机器人提供了这样的解决方案。
英文摘要：
The Pepper and NAO robots are widely used for in-store advertizing and education, but also as robotic platforms for research purposes. Their presence in the academic field is expressed through various publications, multiple collaborative projects, and by being the standard platforms of two different RoboCup leagues. Developing, gathering data and training humanoid robots can be tedious: iteratively repeating specific tasks can present risks for the robots, and some environments can be difficult to setup. Software tools allowing to simulate complex environments and the dynamics of robots can thus alleviate that problem, allowing to perform the aforementioned processes on virtual models. One current drawback of the Pepper and NAO platforms is the lack of a physically accurate simulation tool, allowing to test scenarios involving repetitive movements and contacts with the environment on a virtual robot. In this paper, we introduce the qiBullet simulation tool, using the Bullet physics engine to provide such a solution for the Pepper and NAO robots.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
