Visually realistic environment for safety development of vision-based robot

摘要

Robot software development using real machine involves inevitable high risks, such as robot's breakdown or accident by unexpected action. In order to avoid these risks, it is desired such simulator that the robot software can be developed in virtual environment. However, conventional simulators lack for visual reality sufficient to develop vision-based robot program. In this research, the authors enhance a dynamics simulator by adding the visual reality. As a result we realize a visually realistic simulation environment in which the vision-based robot program can be developed safely.