OpenHRP3: Distributed Component Based Robot Simulator - Concurrent Controller Module Development Environment Based on RT-Component

摘要

A distributed component based dynamics simulator OpenHRP3 has been developed for efficient and systematic robot system development. OpenHRP3 provides seamless controller development environment between simulation and real system. Once a developer implements a controller as a RT-Component and tests it on the simulator, the identical controller module can be executed on the real system without being re-compiled. To realize this functional capability, ExecutionContext that is the execution entity object of the RT-Component is extended. In this paper, we will show the architecture of the OpenHRP3 dynamics simulator based on RT-Middleware and RT-Component with new ExecutionContext.