Integration of Virtual Robot Environmental Platform with Robot Operating System for Real-time Simulation of A Robot

Nattawat Pinrath, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In addition to using robotic simulators for testing system architecture, design, and development, they can also be used in a wider context for Artificial Creatures. In this study, we propose a teleoperation system, which integrates a Virtual Robot Environmentation Platform (V-REP) simulator with the real world through the Robot Operating System framework. The proposed system is a real-time display system that can be used to provide an obstacle and a rough floor visualization. A combination of inertial measurement unit sensor data and odometry data will be sent to the simulator to display the robot posture and then create an algorithm in the V-REP to display the obstacle. Then, the V-REP simulator uses the real-time data and obstacle to real-time dynamic simulation to display the movement of the object that is mounted on the robot. The results show that the proposed system can display the robot posture, the obstacle that the robot climb over, and real-time simulation characteristic of the object that is mounted on the robot.

Original languageEnglish
Title of host publication2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1428-1434
Number of pages7
ISBN (Electronic)9781728110899
Publication statusPublished - 2020 Sep 23
Event59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 - Chiang Mai, Thailand
Duration: 2020 Sep 232020 Sep 26

Publication series

Name2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020

Conference

Conference59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
CountryThailand
CityChiang Mai
Period20/9/2320/9/26

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering

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