Realization of Dynamics Simulator Embedded Robot Brain for Humanoid Robots

摘要

This paper proposes the new robot programming environment in which robot motion programming environment and dynamics simulator are integrated. This allows robot motion programs to include simulation descriptions. Additionally, a new implementation of simulation that is composed by simulation modules is presented, on the other hand, conventional simulators are monolithic and implanted every function. This makes it difficult to add new simulation functions such as new sensors on a simulator by its users. In the new method, the users of the environment can add new modules easily. The simulation function of this system is evaluated by showing new robot motion simulations like brooming, seesaw and so on. The experiment that shows how the simulation embedded brain changes the motion planning of block moving problem is illustrated in the end this paper.