Web based robot simulation using VRML

Abstract

The Virtual Reality Modeling Language (VRML) enables the integration of interactive 3D graphics into the Web. At the German Aerospace Center we have been using the new language in robotic applications from its beginning. The shown project is an example of the possibilities of using it in Web-based simulations. Specialized and expensive hardware or software is not needed, any Web browser with a VRML viewer is able to run the program which makes the application independent from any underlying hardware platform. Special attention was given to building an efficient and usable interface for the standard pointing device. The functionalities provided by the 3D GUI are easy to use and internationalized because self-explaining symbols were used instead of language. Together with Java and VRML's External Authoring Interface (EAI) the simulation can also be used for visualizing and telemanipulating real robots which was the original intention behind the development of this work.