TY - GEN
T1 - Integration of Virtual Robot Environmental Platform with Robot Operating System for Real-time Simulation of A Robot
AU - Pinrath, Nattawat
AU - Matsuhira, Nobuto
N1 - Publisher Copyright:
© 2020 The Society of Instrument and Control Engineers - SICE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/9/23
Y1 - 2020/9/23
N2 - In addition to using robotic simulators for testing system architecture, design, and development, they can also be used in a wider context for Artificial Creatures. In this study, we propose a teleoperation system, which integrates a Virtual Robot Environmentation Platform (V-REP) simulator with the real world through the Robot Operating System framework. The proposed system is a real-time display system that can be used to provide an obstacle and a rough floor visualization. A combination of inertial measurement unit sensor data and odometry data will be sent to the simulator to display the robot posture and then create an algorithm in the V-REP to display the obstacle. Then, the V-REP simulator uses the real-time data and obstacle to real-time dynamic simulation to display the movement of the object that is mounted on the robot. The results show that the proposed system can display the robot posture, the obstacle that the robot climb over, and real-time simulation characteristic of the object that is mounted on the robot.
AB - In addition to using robotic simulators for testing system architecture, design, and development, they can also be used in a wider context for Artificial Creatures. In this study, we propose a teleoperation system, which integrates a Virtual Robot Environmentation Platform (V-REP) simulator with the real world through the Robot Operating System framework. The proposed system is a real-time display system that can be used to provide an obstacle and a rough floor visualization. A combination of inertial measurement unit sensor data and odometry data will be sent to the simulator to display the robot posture and then create an algorithm in the V-REP to display the obstacle. Then, the V-REP simulator uses the real-time data and obstacle to real-time dynamic simulation to display the movement of the object that is mounted on the robot. The results show that the proposed system can display the robot posture, the obstacle that the robot climb over, and real-time simulation characteristic of the object that is mounted on the robot.
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M3 - Conference contribution
AN - SCOPUS:85096362953
T3 - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
SP - 1428
EP - 1434
BT - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
Y2 - 23 September 2020 through 26 September 2020
ER -