Exhibition Presentation Slide at WRS2018 Partner Challenge Virtual Space

1. Connecting Virtual Robot to Real Robot
Happy Mini @ Girls Art Project Kensei Demura

2. Outline
1. Hardware
2. Software

3. 1. Hardware

4. Enabling clumsy people developing home robot
hardware
VR
Goal

5. Starting hardware development of robot
from VR, then make it in the real space

6. Connection of VR and Real Robot
VR
2. CAD
4. Software Test
3. CAE
5. User Test
Real
7. Material Selection
10.Real Robot
8. Choosing
Computer/Sensor Specs
9.Manifacturing
1. Concept
6. Digital
Fabrication

7. 1. Concept
• Happy Mini Ideathon

8. 2. Concept Design with CAD
1st generation 2nd generation 3rd generation

9. 3. Compare Robot Appearance in VR

10. 4. Checking sensor location
• Able to understand the camera location needs to be upper
the head of the robot

11. 5. Mechanical Design

12. 6. Testing robot human interaction
• Understanding it needs a handle to grab it

13. Hardware Design done!

14. Difficulties
Digital Fabrication is not developed yet

15. 3D Printer can’t print big streamline shape

16. Handmade…

17. Outsourcing Digital Fabrication
Difficult to find company which accepts 3D Data format

18. Plastic Mold
• Planning to make it from sewing

19. 2. Software

20. Goal
Make the environment that robot A.I. learn and program by
themselves

21. Reinforcement Learning in SIGVerse
OpenAI Gym ROS & SIGVerse:
https://github.com/kendemu/gym-ros

22. Problem of Reinforcement Learning in
SIGVerse
• Needs generality of environment for A.I., needs many number
of room
Normal SIGVerse : Limited number of room layout

23. What we tried①
• Geographic 3D Map API
Lack of data in Japan, countryside U.S.

24. What we tried② :Building 3D Data
Useful for testing in real estate environment but needs human
hands & fixing to use it in the VR

25. Our Approach : Procedural Generation
A.I. builds the room layout automatically, able to make large
amount of room layout

26. Room Procedural Generation

27. Procedural Terrain Generation

28. Procedural City Generation