四足ロボット・AIBOにおける歩行状態のシミュレーション : プログラム開発およびAIBOカメラによる動的実画像による検証

概要

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In order to study an algorithm for generating behavior of autonomous robot,several simulation programs are developed.For example,there is a simulator,in which visual information and image processing system are combined.There is another simulator,in which camera characteristic such as sensing noise and lens aberration are regarded.The authors have studied AIBO control program to participate in RoboCup heretofore.In this paper,with taking advantage of previous results,a simulation program for AIBO ERS-7M3 is developed and verified considering the mechanical characteristic.Consequently,comparing real image captured by the AIBO camera with simulated camera image,it is confirmed by visual observation that actual AIBO behavior can be produced precisely by the simulator.