AnyKode Marilou

Infobox Software
name = Marilou Robotics Studio
caption = Marilou Robotics Studio
developer = anyKode
designer = Laurent Ricatti
latest_release_version = Marilou Robotics Studio M04
latest_release_date = June 30, 2008
operating_system = Windows 2000, Windows Server 2003, Windows XP, Windows Vista
genre = Robotics suite
license = Commercial / Education facilities / Free to try and for hobbyists
website = [http://www.anykode.com Official Webpage]

Marilou Robotics Studio is a modeling and simulation environment for mobile robots, humanoids, articulated arms and parallels robots operating in real-world conditions that respect the laws of physics. This robotics suite is used in research centers as well as industry for various projects like humanoid architectures, wheeled and multilegged vehicles and multi-robot systems (Multi-agents).

Marilou real-time engine 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.

cenes modeling

With Marilou's entities editor, you can design robot collision models using any of the stationary or dynamic objects in your simulated world. CAD-style editing tools are entirely graphical, easy to use, and allow you to make changes and set-up new situations quickly. Scenes, dynamics and robots properties can be changed from a view/document/properties IHM style. Also editor takes in charge re-usable physicals as well as pure 3D models.

The most complex objects can be made easily by assembling simpler sub-parts. 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

* Totally graphical handling of robots and environments models (physics parts and 3D models)
* Modeling helpers, Refactoring tools, several documents and viewpoints
* Rigid bodies, n-axis joints 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

* High quality 3D rendering using pixel and vertex shaders
* Spot, Point, Ambient and directional lights
* Dynamic shadowing
* Virtual Serial port ( [http://www.fabulatech.com/vspc-case-studies/robotics-studio.html Falulatech technology] )

Devices

Marilou includes a complete set of user-modifiable virtual devices. The behavior of these devices in Marilou may be overridden by the properties of real devices available for purchase. This feature keeps you from having to worry about setting up devices, allowing you to use a known device's parameters directly. This is a list of supported devices types:

* Embedded robotic components
* Motors and servo motors
* Odometers
* Distance sensors (Us, Ir, Laser)
* Emitters and receivers
* Bumpers
* Actuating cylinders / jack
* Air pressure forces
* Standard and panoramic spherical Cameras (Panoramic camera)
* GPS
* Accelerometers/Gyrometers/Gyroscope
* Inductive and capacitive sensors
* Light Sensors

Robots programming

MODA is the Marilou generic SDK for handling simulated robots and their embedded devices, such as sensors and triggers. Depending on the language you choose, MODA provides libraries (.lib) or Assembly.net (.dll) for accessing simulation over a 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 several robots, whether or not they be in the same world. MODA TCP server can be embedded in real robot.

* Languages: C/C++, C++ CLI, C#, J#, VB#
* Compilers: Microsoft Visual Studio suites, DevC++, Borland C++ Builder
* Open-source and compatible Linux

Compatibility systems

* [http://www.intempora.com Intempora RT-Maps]
* Matlab
* [http://www.irai.com IRAI Automgen]
* Gostai URBI

ee also

* Robot
* Robotics simulator
* Robotics suite

External links

* [http://www.bioingenieria.edu.ar/grupos/lirins/jaicc2009.html LIRINS/anyKode collaboration on the Brain Computer Interface (Argentina)]
* [http://www.robotcafe.com/dir/Software/Simulators Good Robotics simulators list]
* [http://opende.sourceforge.net/mediawiki-1.6.10/index.php/Products_that_use_ODE Products that use ODE]
* [http://ode.org/users.html ODE official website]
* [http://support.intempora.com/tutorials/index.php?menu=tutoriels Programming a virtual robot with RT-Maps]
* [http://www.lirmm.fr/xml/en/0001-01.html Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (English version)]
* [http://www.robot-intelligence-artificielle.com/acualite/software/marilou-robotics-studio--du-nouveau-chez-les-simulateurs-de-robots.html Interview from Claire DeLaunay (in French)]
* [http://clubrobotique.free.fr/spip.php?breve4 RobotNik : INSA of Rennes (in French)]
* [http://www.robotic-lab.com/blog/2007/06/14/marilou-robotics-studio-simulador-robotico Article about robotics and Marilou (Spanish)]
* [http://se2i.free.fr/pages/robotique/page_principale_robotique.html Robotics resources (in French)]
* [http://www.gostai.com/marilou.html Gostai URBI]
* [http://overstorm.dyndns.org/MonWiki/wakka.php?wiki=OpenCeBot OpenCeBot open-source project about future robots programming (in French)]