Choreonoidを用いた仮想災害現場における探査ロボットの動作シミュレーション

―油圧アクチュエータを用いたレスキューロボットの操作機能の開発と評価―

抄録

This paper shows the development of the operation function of the search and rescue robot using a hydraulic actuator with Choreonoid. In this study, an improved simulation model which is based on the actual developing robot in our laboratory was constructed, and the relationship between the number of meshes in the simulation model and the simulation time was investigated. As the evaluation environment of mobility performance, the field of“Tunnel Accident Disaster Response / Recovery Challenge” of the WRS pre-convention held in October 2018 is used.