Motion simulation of search robot in virtual disaster field using Choreonoid

-Modeling of mobile search robot (UMRS 2009) and construction of motion simulation environment-

Abstract

This paper describes a construction of motion simulation environment using Choreonoid. The Choreonoid is a dynamics simulation software that is developed by National Institute of Advanced Industrial Science and Technology (AIST). In this paper, we show that the construction method of mobile a search robot (UMRS2009) which is developed by our laboratory and the virtual disaster field which is applied in RoboCup2015 on Choreonoid.