Project Role and Responsibilities

• Sep. 5–6, 2024: Initiated the development of a KEBA robot simulation environment, including code analysis and follow-up implementation.
• Sep. 9, 2024: Successfully completed the KEBA simulation environment setup.
• Sep. 10, 2024: Conducted an in-depth study and analysis of simulation techniques, including physics engine configuration, coordinate system mapping, and transformation between simulation and robot coordinate frames.
• Compiled and documented the KEBA-related technology stack, troubleshooting processes, and project outcomes.

Unity-Based Robot Safety Inspection System

• Sep. 30, 2024: Established the initial concept and system design for a Unity-based robot safety inspection system, including the visualization of collision-risk areas and worker access detection.
• Oct. 8, 2024: Implemented the integration between Unity and MuJoCo through a simulation plugin.
• Oct. 10, 2024: Integrated a Doosan Robotics robot model into the Unity–MuJoCo environment and completed the virtual robot simulation environment.

Technical Focus

• Collaborative Robots (Cobots) — Human-robot interaction and safety-aware control for collaborative robotic systems operating alongside human workers
• Digital Twin — Real-time synchronization between physical robot systems and virtual simulation environments for monitoring, analysis, and predictive control
• VR Teleoperation — Immersive virtual reality-based interfaces for remote robot control and safety inspection

Project Contributions

• Built a KEBA robot simulation environment from the ground up, including analysis of vendor-provided code and follow-up implementation to resolve integration issues.
• Documented the full KEBA technology stack and troubleshooting process as a reference for future simulation work.
• Established the initial concept and system design for a Unity-based robot safety inspection system, including collision-risk area visualization and worker access detection.
• Implemented real-time integration between Unity and MuJoCo through a custom simulation plugin.
• Integrated a Doosan Robotics robot model into the Unity–MuJoCo environment and completed a functional virtual robot simulation environment.