ヒューマノイドの自律行動実験の複合現実感によるレビューシステム

摘要

製造設計の分野では，実際に使用される環境（実環境）で製品となる実機を用いての動作検証が不可欠である.実機を構成する複数の機能モジュールを組み上げた際の，設計段階やシミュレーションでは予想できない要因による動作の不具合を検証し，より頑健な動作を保証しなければならない.動作検証では，動作中の機能モジュールの状態と，実環境との干渉を記録し，それらの情報を解析する.%We propose a review system to verification of actual machine behavior in the actual environment. The system is based on Mixed Reality technology for viewing and reviewing of internal parameters computed by the humanoids against the actual environment. In the environment, the parameters snapped on each sampling time are treated as data streams, and stored to the distributed log servers in real time. 3-D graphical representation of the parameters helps us to observe plural multi-dimensional parameters. A video see-through head mounted display is used for viewing the representation. The stored parameters can be projected on the current actual scene from arbitrary viewpoints. By the viewing and reviewing functions, the Mixed Reality environment becomes a powerful tool for the autonomous behavior developer in order to debug the actual behavior by contrast with the actual environment. This paper describes the implementation of the system with a full size humanoid, HRP-2, and shows some experimental examples.