The robot Baxter ist modeled in Unity3D and a UDP interface is implemented for multi process communication. The UDP interface connects also the real robot with the VR-Robot and can be used to either execute learn motion in the VR on the real robot or just to monitor in the VR the executed movements of the real robot. The simulator includes also an implementation of an analytic solution for the inverse kinematics
Iossifidis, I., & Steinhage, A. (2001). Control of an 8 DoF manipulator by means of neural fields. In A. Halme, R. Chatila, & E. Prassler (Eds.), Proceedings of the international conference on field and service robotics, FSR2001. Yleisjäljennös-Painopörssi.
Iossifidis, I. (2006). Dynamical systems approach for the autonomous avoidance of obstacles and joint-limits for an redundant robot arm.
Iossifidis, I. (2014, January 1). Simulated framework for the development and evaluation of redundant robotic systems. International Conference on Pervasive and Embedded and Communication Systems, 2014, PECCS2014.