ロボットの設計から学習までを繋ぐ：インタラクティブなライフサイクル表現に向けて
Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots
ロボット開発の設計からシミュレーション学習までの情報伝達を自動化するため、Fusion 360用のオープンソースプラグインACDC4Robotを開発し、ロボット記述フォーマットの生成・編集を容易にした。
著者: Nuofan Qiu, Fang Wan, Chaoyang Song
分類: cs.RO
原文アブストラクト
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology design to learning, and introduce the role of robot description formats in facilitating information transfer throughout this pipeline. We analyzed the relationship between design and simulation, enabling us to employ robot process automation methods for transferring information from the design phase to the learning phase in simulation. As part of this effort, we have developed an open-source plugin called ACDC4Robot for Fusion 360, which automates this process and transforms Fusion 360 into a user-friendly graphical interface for creating and editing robot description formats. Additionally, we offer an out-of-the-box robot model library to streamline and reduce repetitive tasks. All codes are hosted open-source. (\url{https://github.com/bionicdl-sustech/ACDC4Robot})
