Fig. 14-2a Simulation of a human-shaped robot ascending stairs. In HASP, biped locomotion is simulated based on robot dynamics.

Fig. 14-2b Visualization results of the Primary area in JRR-3M. Three dimensional image calculated by ray tracing algorithm on the Monte Carlo Machine.

Conventional artificial intelligence has been developed in the "toy-world" made up of a few solid primitives such as a cylinder, parallelepiped and so on. However, it is impossible to apply the methods or techniques developed in the "toy-world" to the real one since the discrepancy between both world models is large. In the HASP being conducted with the aim of discarding the "toy-world", various kinds of simulation are performed by using the real model representing the JRR-3M that is one of research reactors in JAERI, as shown in Fig. 14-2. It is possible to design an intelligent robot and to quantitatively estimate the task of a human worker in nuclear plant, by using the simulation system developed. Now the dynamical simulation of a human-shaped robot and the estimation of artificial intelligence software are being performed on the simulation system.

Reference E. Kume et al., Numerical Simulation for Design of Biped Locomotion Robots, Proc. of Joint Internat. Conf. on Mathematical Methods and Supercomputing in Nucl. Applications, Karlsruhe, Germany (1993).

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