Rapid development system for humanoid vision-based behaviors with real-virtual common interface
Rapid development system for humanoid vision-based behaviors with real-virtual common interface
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DOI：
10.1109/irds.2002.1041647
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发表时间：
2002-12
期刊：
影响因子：
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通讯作者：
K. Okada;Y. Kino;F. Kanehiro;Y. Kuniyoshi;M. Inaba;H. Inoue
中科院分区：
文献类型：
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作者：
K. Okada;Y. Kino;F. Kanehiro;Y. Kuniyoshi;M. Inaba;H. Inoue
本文介绍了一个仿真环境下由真实机器人和虚拟机器人组成的仿人视觉行为快速开发系统。以前的机器人模拟器仅限于验证动态运动，如行走，或在简单的环境中规划或学习。然而，我们的系统能够模拟基于视觉的行为，即机器人作为一个整体的运动和感知行为，因为它可以模拟环境中的动态和碰撞。我们认为仿真的实时性非常重要，这样用户就可以快速有效地开发基于视觉的行为。我们采用通用接口API在真实机器人和虚拟机器人之间共享行为软件。此外，还具有颜色提取和深度图生成等视觉处理功能。在此基础上，提出了仿真中基于视觉的人形机器人局部地图生成、规划和导航行为。我们还证明了在仿真环境中开发的软件适用于真实的机器人。
This paper describes a rapid development system for humanoid vision-based behavior consisting of both real and virtual robots in a simulation environment. Previous robotics simulators were limited to verify dynamic motions such as walking, or to plan or learn in a simple environment. However, our system is able to simulate vision based behavior, i.e. motion and perception behavior, of a robot as a whole, since it can simulate both dynamics and collisions in the environment. We regard the real-time aspect of the simulation as important so that so that users can develop vision based behavior rapidly and efficiently. We employ a Common Interface API to share behavior software between real and virtual robots. Moreover, visual processing functions such as color extraction and depth map generation are available. As a result, vision based behavior consisting of local map generation, planning and navigation of the humanoid in simulation is presented. We also show that software developed in the simulation environment is applicable to real robots.