Choreonoid: Extensible virtual robot environment built on an integrated GUI framework
Choreonoid: Extensible virtual robot environment built on an integrated GUI framework
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Choreonoid：基于集成 GUI 框架构建的可扩展虚拟机器人环境
DOI：
10.1109/sii.2012.6427350
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Shin'ichiro Nakaoka
中科院分区：
文献类型：
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作者：
Shin'ichiro Nakaoka
虚拟机器人模型通常用于开发、测试和使用机器人系统。这样的活动可以有效地进行，通过使用可视化和操作虚拟机器人与图形用户界面（GUI）的软件工具。然而，现有的GUI工具（例如机器人模拟器）并不提供处理目标机器人系统所需的所有功能，并且从头开始开发新的GUI工具来启动功能需要相当大的努力。为了解决这个问题，我们已经开发了一个软件框架，称为Choreplayer，它允许用户有效地实现和集成各种GUI工具来处理虚拟机器人。在本文中，我们提出了框架设计。我们的设计和实现的有效性显示的例子工具上实现的Choreplayer框架。
Virtual robot models are often used for developing, testing, and using robot systems. Such activities can be efficiently conducted by using software tools for visualizing and operating virtual robots with a graphical user interface (GUI). However, existing GUI tools such as robot simulators do not provide all the functions necessary for handling a target robot system, and the development of new GUI tools from the ground up to actuate functions requires considerable effort. To solve this problem, we have developed a software framework called Choreonoid, which allows users to efficiently implement and integrate various GUI tools for handling virtual robots. In this paper, we present the framework design. The validity of our design and implementation is shown by example tools implemented on the Choreonoid framework.