Simulator for Disaster Response Robotics

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 128)


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.



This work was supported by Impulsing Paradigm Change through Disruptive Technologies (ImPACT) Tough Robotics Challenge program of Japan Science and Technology (JST) Agency.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.National Institute of Advanced Industrial Science and Technology (AIST)Tsukuba, IbarakiJapan
  2. 2.Osaka UniversitySuita, OsakaJapan
  3. 3.Keio UniversityKohoku, YokohamaJapan
  4. 4.Yokohama National UniversityHodogaya-ku, YokohamaJapan
  5. 5.Tohoku UniversityAoba-ku, SendaiJapan

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