Abstract
In the software development for robots, accompanied by a high risk with introducing a test program into the system. Such as robot's breakdown or accident by unexpected action. In order to reduce these risks, it is important to perform verification of operation on virtual environment. In this research, we use a Simulation environment (OpenHRP) that is controlled by Software (RT component) that is made to control robot and modularized according to the function, and compare a vision simulation with a virtual environment with texture and without texture.
