CM-RMP: Robot Soccer UberSim Movies

Here are links to our most recent UberSim movies. Click on the speed links below to jump to what your interested in.


  • Segway
  • Segway-View

  • Movies


    These movies show the output of the current version of UberSim (2.0) simulating a virtual Segway RMP. The robot is running a PID control loop, with manually set gains and has a weight distribution identical to the real robot. Some videos show a robot with a simulated moveable mass on top of the robot and the impact this has on control

    Our first UberSim2 movie

    Poor interaction between PID and mass movement.

    Incorrect signs on PID gains leads to instability :-)

    A stable PID with mass motion actuation.

    A segway with a heavier mass


    These movies show the simulated robot perception. The movies play a little faster than framerate currently.

    File generated on Tue Jul 19 00:00:33 2005