タイトル平成26年度ー平成27年度成果報告書 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 Choreonoidフレームワークを用いた災害対応ロボットシミュレータの研究開発(1)
報告書年度2014 - 2015
和文要約件名:平成26年度ー平成27年度成果報告書 環境・医療分野の国際研究開発・実証プロジェクト/ロボット分野の国際研究開発・実証事業/Choreonoidフレームワークを用いた災害対応ロボットシミュレータの研究開発

研究室内で過度に簡単化された問題ではなく、極めて難易度の高い課題を敢えて設定し、それを短期間で解決しようとする挑戦的な研究開発が、技術を実用可能水準まで加速的に向上する手段として有効である。米国で企画されたDARPA Robotics Challenge(DRC)は、そのような方法の良いモデル事業となった。このような企画で使用でき、ロボット開発を促進するソフトウェア基盤の開発は、現在我が国で最も急務と言って良い原子力発電所の廃止作業の早期実現と、我が国を常に脅かす種々の災害への対策配備、そして同時に世界における我が国のロボット分野における競争力を維持する上で重要な意味を持つ。
中間公開企画であったJapan Virtual Robotics Challengeにおいて採用はされなかったが、当初掲げていた開発項目は全て実現できた。一方で、ロボット開発支援には精度と同程度に計算速度も重要であることが分かった。また、シミュレーション用の計算基盤だけでなく、個々の状況を再現するモデルの信頼性を保証することも求められる。これらについては事業終了後も継続的に解決に当たる必要がある。
英文要約Title: The International R&D and Demonstration Project in Environment and Medical Device Sector / The International R&D and Demonstration Project on Robotic Field / R&D of the disaster-response robot simulator based on the Choreonoid framework (FY2014-FY2015) Final Report

Robotics is being strongly demanded to be a technology that enables to “carry the human’s wisdom instead of humans” to sites that have become hazardous for humans due to natural disasters or any other incidents where almost only human can operate to improve the situation. ‘Human’s wisdom’ means an ability to make decisions and operate under quite complex conditions based on high knowledge and skill. Nevertheless, there exists no robots that are equipped with as high abilities as humans, even if they are remotely operated by humans.
An efficient way to accelerate the advancements of technologies to be practical level is to set a quite challenging problem rather than a toy problem defined in a laboratory, and to try to resolve it in a short term. DARPA Robotics Challenge (DRC) contrived in the United States turned to be a nice case of such programs. It is significant for researchers to prepare fundamental software tools that accelerate robot system developments for early achievement of the abolition of the nuclear power plant, which is the most urgent business for us, preparation against natural disasters, which threats this country, and preservation of competitiveness among many countries.
Osaka University joined a project to develop a dynamics simulator to support the developers of disaster-response robots with National Institute of Advanced Industrial Science and Technology and Kyushu University. The mission of Osaka University team was to improve the computation accuracy of dynamics simulator. The items to be developed include (A) an algorithm to stably estimate interaction forces produced when a number of bodies discontinuously collide and contact with each other with sufficient accuracy, and (B) an algorithm to simulate motor behavior emerged through a coupling of electric-and-electronic dynamics and mechanical nonlinear dynamics inside transmissions. Those technologies help to reproduce a variety of disaster scenes.
All items that are initially planned to be developed have been implemented, though they were not devoted to Japan Virtual Robotics Challenge. On the other hand, it has been revealed that the computation speed is important for testing robotic system as well as the computation accuracy. Not only the dynamics computation solver but also the model of each situation is influential to the simulation results. Those issues should be continuously tackled even after this program.
The last but not least, all the development results are available in public on the internet with LGPL-3.