Graphical Simulation and High-Level Control of
Humanoid Robots
- James Kuffner, Jr.
- Satoshi Kagami
- Masayuki Inaba
- Hirochika Inoue
Abstract
Physically-based simulation software is commonly used for developing
and testing low-level robot control algorithms. In order to
facilitate the development and evaluation of higher-level robot
behaviors, broader-based simulations are needed. Examples include
software for simulating 3D vision, motion planning for obstacle
avoidance, and integrating vision and planning. In addition to
modeling the general interaction between the robot and its
environment, the software can be used as a graphical user interface
for directly controlling or interacting with a robot operating in
the real world. This paper describes our current efforts toward
building a large-scale software simulation framework for the
development and testing of high-level behaviors for humanoid robots.
We view this as a potential useful tool for the visualization and
development of robotic systems, as well as an interactive,
task-level programming interface for robots.
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