Crossing Real and Virtual: Pepper Robot as an Interactive Digital Twin - Archive ouverte HAL
Communication Dans Un Congrès Année : 2024

Crossing Real and Virtual: Pepper Robot as an Interactive Digital Twin

Résumé

This paper proposes a practical framework for implementing a Digital Twin (DT) application in Unity Engine, aimed at simulating the Softbank Pepper robot for testing interactive tasks in the RoboCup@Home (https://www.robocup.org/) competition using virtual reality. The proposed framework employs a versatile robotic middleware integrating open-source ZeroMQ (ZMQ) websocket and Qi API, which enables researchers to implement the framework in various simulations. This paper also provides a short insight into setting up the DT framework in Unity Engine to enable real-time communication between the virtual and physical robot. The framework can be used by future researchers to simulate Pepper robots in diverse 3D game engines for testing interactive tasks.
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Dates et versions

hal-04585020 , version 1 (23-05-2024)

Identifiants

Citer

Louis Li, Maëlic Neau, Thomas Ung, Cédric Buche. Crossing Real and Virtual: Pepper Robot as an Interactive Digital Twin. Robot World Cup 2023, Jul 2023, Bordeaux, France. pp.275-286, ⟨10.1007/978-3-031-55015-7_23⟩. ⟨hal-04585020⟩
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