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Choreonoidを用いた原子力災害対応向けロボットシミュレータ

A Choreonoid based simulator for nuclear emergency response robots

磯和 充; 鈴木 健太 ; 伊藤 倫太郎; 堀内 一憲*; 川端 邦明   

Isowa, Mitsuru; Suzuki, Kenta; Ito, Rintaro; Horiuchi, Kazunori*; Kawabata, Kuniaki

廃止措置に向けた遠隔操作機器の研究開発及び操縦訓練等を効率的に行うためには、シミュレーション技術の活用が重要である。本講演では、原子力機構楢葉遠隔技術開発センターで整備を進めている原子力災害対応向けロボットシミュレータに係る機能の実演及び開発状況について発表する。

Simulation technology is important for efficient development of remotely operated robots for decommissioning Fukushima Daiichi Nuclear Power Plants (herein referred to as 1F) and training operators to use the robots. We developed an extension to Choreonoid to simulate operation of an underwater, remotely operated vehicle (ROV). The extension was developed using a network traffic controller and includes 3D environmental models of 1F. This paper provides an overview of the extension.

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