原子力災害対応ロボット開発支援のためのロボットシミュレータ開発

Development of a robot simulator for supporting to develop nuclear emergency response robots

鈴木 健太 ; 川端 邦明   ; 磯和 充; 鳥居 建男  

Suzuki, Kenta; Kawabata, Kuniaki; Isowa, Mitsuru; Torii, Tatsuo

This paper describes about recent report on the development of a robot simulator for nuclear emergency response robot. The robot simulator is being developed based on Choreonoid that is developed by AIST and also installs the environment and structural data of an unit of Fukushima Daiichi Nuclear Power Station (1F). Currently, we design the base system with the data of 1F and the extended simulation functions like underwater moving, the appearance of the obstacles on the camera view and the status of wired signal transmission. In this paper, we introduce such functions and the prototype of the robot simulator.