Disaster Response Robot Simulator
Dual-arm robot simulator for disaster response
The Choreonoid Robot Simulator, developed by AIST, can reproduce soft behaviors such as the deflection of the crawler belt. We developed a model of this crawler robot and developed software technology for maneuvering inside the simulator using a tool called Open-RTM. The developed code can be applied to a real machine, and you can acquire a realistic control feeling inside the simulator. Our development code and maneuvering technique won the World Robot Summit 2019 Tunnel Accident Disaster Response Challenge.
Crawler robot simulation with rigid-soft bodied parts
This research project have been performing motion analysis by physical simulation for disaster response robot. Key technology is to simulate rigid parts and elastic parts at the same time, and enables simulation of various types of robots. The physics engine uses an engine that has enhanced the dynamics calculation based on Voxelyze developed by Creative machines lab organized by professor Hod Lipson of Columbia University (originally Cornell University).
We are working on simulation analysis targeting movement mechanism of crawler robot whose movement mechanism has not been elucidated. As a result, we have established a simulation technique as the basis for analyzing the crawler robot such as visualization of surface pressure change occurring at the time of mutual viewing with the ground by the pressure-sensitive sheet model, acquisition of stair climbing movements.