Modelling of virtual home robot system

Desheng Lu; Bingrong Hong

doi:10.1117/12.571095

25 October 2004 Modelling of virtual home robot system

Desheng Lu, Bingrong Hong

Proceedings Volume 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision; (2004) https://doi.org/10.1117/12.571095
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

The approach of the computional simulation in the virtual prototyping is applied to design the system of home robot. By means of three-dimensional (3-D) real scene modeling, the virtual enviroment of family rooms and 3-D entity models of virtual home robot are established on Silicon graphics workstation. The kinematics model of home robot is derived for degree of freedom motions. The scenes of the virtual enviroment are changing with the movements of the observer’s viewpoint. So the 3-D scenes can simulate the images taken by the camera as the viewpoint of the channel is set on the camera of virtual home robot. The data of the odometer is simulated by the parameters that label the numbers of wheels’ rotations. In order to verify feasibility of the virtual home robot system, the simulation experiment is presented as the virtual home robot roaming in the virtual environment of family rooms. The geometric model of each part of home robot is articulated as a node tree to be put into the virtual enviroment. The results of the experiments show that the technology of virtual prototype can lead good synergy between the fields of virtual reality and Robotics.

Citation Download Citation

Desheng Lu and Bingrong Hong "Modelling of virtual home robot system", Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); https://doi.org/10.1117/12.571095

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