Simulator for disaster response robotics

Fumio Kanehiro, Shin’ichiro Nakaoka, Tomomichi Sugihara, Naoki Wakisaka, Genya Ishigami, Shingo Ozaki, Satoshi Tadokoro

研究成果: Chapter

1 被引用数 (Scopus)

抄録

This chapter presents a simulator for disaster response robots based on the Choreonoid framework. Two physics engines and a graphics engine were developed and integrated into the framework. One physics engine enables robust contact-force computation among rigid bodies based on volumetric intersection and a relaxed constraint, whereas the other enables accurate and computationally efficient computation of machine–terrain interaction mechanics based on macro and microscopic approaches. The graphics engine allows simulating natural phenomena, such as rain, fire, and smoke, based on a particle system to resemble tough scenarios at disaster sites. In addition, wide-angle vision sensors, such as omnidirectional cameras and LIDAR sensors, can be simulated using multiple rendering screens. Overall, the simulator provides a tool for the efficient and safe development of disaster response robots.

本文言語English
ホスト出版物のタイトルSpringer Tracts in Advanced Robotics
出版社Springer Verlag
ページ453-477
ページ数25
DOI
出版ステータスPublished - 2019

出版物シリーズ

名前Springer Tracts in Advanced Robotics
128
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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