TY - GEN
T1 - Designing of online simulation environment for development control algorithms for robots operating in rough terrains
AU - Kurose, Kensuke
AU - Saga, Satoshi
AU - Okamoto, Shogo
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
PY - 2008
Y1 - 2008
N2 - In the search and rescue situation at the disaster area, the searching task should be conducted by robots in order to avoid the second disaster. We study crawler robots that can traverse rough terrains and are used in such search operations. This paper describes the designing of an online simulation environment using which we can develop control algorithms for crawler robots, especially for the robot named "Kenaf." We use USARSim that can simulate three-dimensional space. By employing realtime simulation, we connect a real robot controller and the simulator directly and realize online simulation using the real robot controller. The tests show that the created simulation system can be used for the development of control algorithms.
AB - In the search and rescue situation at the disaster area, the searching task should be conducted by robots in order to avoid the second disaster. We study crawler robots that can traverse rough terrains and are used in such search operations. This paper describes the designing of an online simulation environment using which we can develop control algorithms for crawler robots, especially for the robot named "Kenaf." We use USARSim that can simulate three-dimensional space. By employing realtime simulation, we connect a real robot controller and the simulator directly and realize online simulation using the real robot controller. The tests show that the created simulation system can be used for the development of control algorithms.
UR - http://www.scopus.com/inward/record.url?scp=69549092043&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2008.4650898
DO - 10.1109/IROS.2008.4650898
M3 - Conference contribution
AN - SCOPUS:69549092043
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2091
EP - 2096
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -