Simulator for disaster response robotics

Fumio Kanehiro, Shin’ichiro Nakaoka, Tomomichi Sugihara, Naoki Wakisaka, Genya Ishigami, Shingo Ozaki, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)


This chapter presents a simulator for disaster response robots based on the Choreonoid framework. Two physics engines and a graphics engine were developed and integrated into the framework. One physics engine enables robust contact-force computation among rigid bodies based on volumetric intersection and a relaxed constraint, whereas the other enables accurate and computationally efficient computation of machine–terrain interaction mechanics based on macro and microscopic approaches. The graphics engine allows simulating natural phenomena, such as rain, fire, and smoke, based on a particle system to resemble tough scenarios at disaster sites. In addition, wide-angle vision sensors, such as omnidirectional cameras and LIDAR sensors, can be simulated using multiple rendering screens. Overall, the simulator provides a tool for the efficient and safe development of disaster response robots.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Number of pages25
Publication statusPublished - 2019

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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