Vision Simulator of Hsr-vii for Obstaclerun in Hurocup

This paper presents the vision simulator, which is designed for simulating vision processing and task planning for smallsize humanoid, HSR-VII. Vision simulator under 3D environment is essential for developing motion planning and vision processing algorithm including foot step planning. In order to simulate gate generation and vision processing concurrently, the essential components such as walking pattern generator, vision module, visualizer and task planner are included in this simulator. Detailed program architecture is explained along with its function descriptions. For the understanding of whole architecture, brief description on HSR-VII and modifiable walking pattern generation algorithm are introduced. To verify the effectiveness of the SW system, the simulation designed for ObstacleRun in FIRA HuroCup league is carried out using the designed simulator.