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Simulator for Disaster Response Robotics

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Disaster Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 128))

Abstract

This chapter presents a simulator for disaster response robots based on the Choreonoid framework. Two physics engines and a graphics engine were developed and integrated into the framework. One physics engine enables robust contact-force computation among rigid bodies based on volumetric intersection and a relaxed constraint, whereas the other enables accurate and computationally efficient computation of machine–terrain interaction mechanics based on macro and microscopic approaches. The graphics engine allows simulating natural phenomena, such as rain, fire, and smoke, based on a particle system to resemble tough scenarios at disaster sites. In addition, wide-angle vision sensors, such as omnidirectional cameras and LIDAR sensors, can be simulated using multiple rendering screens. Overall, the simulator provides a tool for the efficient and safe development of disaster response robots.

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Acknowledgements

This work was supported by Impulsing Paradigm Change through Disruptive Technologies (ImPACT) Tough Robotics Challenge program of Japan Science and Technology (JST) Agency.

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Authors and Affiliations

  1. National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 1, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8560, Japan

    Fumio Kanehiro & Shin’ichiro Nakaoka

  2. Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871, Japan

    Tomomichi Sugihara & Naoki Wakisaka

  3. Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama, 223-8522, Japan

    Genya Ishigami

  4. Yokohama National University, Tokiwadai 79-5, Hodogaya-ku, Yokohama, 240-8501, Japan

    Shingo Ozaki

  5. Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba-ku, Sendai, 980-8579, Japan

    Satoshi Tadokoro

Authors
  1. Fumio Kanehiro
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  2. Shin’ichiro Nakaoka
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  3. Tomomichi Sugihara
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  4. Naoki Wakisaka
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  5. Genya Ishigami
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  6. Shingo Ozaki
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  7. Satoshi Tadokoro
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Corresponding author

Correspondence to Fumio Kanehiro .

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Editors and Affiliations

  1. Graduate School of Information Sciences, Tohoku University, Sendai, Japan

    Satoshi Tadokoro

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Kanehiro, F. et al. (2019). Simulator for Disaster Response Robotics. In: Tadokoro, S. (eds) Disaster Robotics. Springer Tracts in Advanced Robotics, vol 128. Springer, Cham. https://doi.org/10.1007/978-3-030-05321-5_9

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