Verification the feasibility of SIGVerse for human-robot interaction simulation through following task

Abstract

This paper proposes verification for the feasibility of human-robot coexistence and interaction simulation in SIGVerse environment. SIGVerse is a human-robot interaction environment, which can be also applied for virtual reality. It solves the problem for lacking of human-robot interaction in simulation software previously. In this paper, a robot following human task in the domestic indoor environment is presented to test the software. In the experiment, binocular visual servo planar mobile robot is used for completing two confusion challenges, binocular vision distance measurement and extended PD controller are used to complete the task, which are set to test the universal of the algorithm and the feasibility of the simulation. Then the measuring and following algorithm is tested in the real environment as well. The experimental result shows that it is possible for same algorithm using for both simulation and real environment.