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

Nattawat Pinrath, Nobuto Matsuhira

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1428-1434
ページ数7
ISBN(電子版)9781728110899
出版ステータスPublished - 2020 9 23
イベント59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 - Chiang Mai, Thailand
継続期間: 2020 9 232020 9 26

出版物シリーズ

名前2020 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
国/地域Thailand
CityChiang Mai
Period20/9/2320/9/26

ASJC Scopus subject areas

  • 制御と最適化
  • 器械工学
  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 決定科学(その他)
  • 産業および生産工学

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