Immersive prototyping for robot design with 3D sketching and VR acting in reconstructed workspace

Abstract

Immersive prototyping for robot design utilizing 3D sketching and VR acting within a restored workspace is disclosed, which can be configured to construct a workspace by restoring a target environment in 3D based on video data of the target environment, sketch a robot in 3D according to user input within the workspace, and verify the robot by making the robot operate in a virtual reality environment corresponding to the workspace.

Description

Technology Field

[0001] The present disclosure relates to immersive prototyping for robot design utilizing 3D sketching and virtual reality (VR) acting within a restored workspace. Background Technology

[0002] The rapid advancement of robotics and artificial intelligence technologies heralds a near future where robots of diverse forms, sizes, and structures are specialized for various environments and contexts to provide useful services to humans. However, the current robot development process faces several critical issues. Unlike traditional products, robots possess complex forms and structures composed of various joints, making it difficult for designers to express their ideas through sketches. Furthermore, even after constructing full-scale models, it is challenging to test the movements or services that robots must perform autonomously and intelligently. Consequently, the services users will experience are not properly evaluated until the final stage of development, and as a result, design modifications and iterations entail significant risks and costs. The problem to be solved

[0003] The present disclosure aims to solve these problems and make the robot development process more efficient. To this end, the present disclosure supports designers in designing and verifying robots within a space that realistically reproduces a target environment. This method enables designers to gain contextual insights while designing robots specialized for specific environments and services, and allows for evaluation at an early stage without physical prototypes, thereby significantly reducing risk, cost, and development time. means of solving the problem

[0004] The present disclosure provides an immersive prototyping method for robot design performed by a computing system, wherein the immersive prototyping method may include the steps of constructing a workspace by restoring the target environment in three dimensions based on image data of the target environment, sketching a robot in three dimensions within the workspace according to user input, and verifying the robot by operating the robot in a virtual reality environment corresponding to the workspace.

[0005] The present disclosure provides a computing system for performing immersive prototyping for robot design, wherein the computing system comprises a display module configured to visualize a workspace on a screen, an input module configured to detect user input, and at least one processor connected to the display module and the input module and configured to generate a design of a robot in the workspace according to the user input, wherein the processor may be configured to construct the workspace by restoring the target environment in three dimensions based on image data of the target environment, sketch the robot in three dimensions in the workspace according to the user input, and verify the robot by operating the robot in a virtual reality environment corresponding to the workspace.

[0006] The present disclosure provides a computer program stored on a non-transient computer-readable recording medium for executing an immersive prototyping method for robot design on a computing system, wherein the immersive prototyping method may include the steps of constructing a workspace by restoring a target environment in three dimensions based on image data of the target environment, sketching a robot in three dimensions within the workspace according to user input, and verifying the robot by operating the robot in a virtual reality environment corresponding to the workspace. Effects of the invention

[0007] According to the present disclosure, by designing a robot within a reconstructed workspace based on the target environment in which the robot will actually be used, and verifying the robot in a virtual reality environment corresponding to the workspace, a robot can be designed to be contextually suitable for the target environment. Accordingly, designers can realistically experience and evaluate the size, form, structure, and movement of the robot from an early stage, and verify human-robot interaction and service scenarios without producing a physical prototype. Furthermore, as design and verification are repeatedly performed within the same target environment through 3D sketching and virtual reality acting, the efficiency of design modifications is improved, and time and costs in the development process can be reduced. Moreover, since multiple participants can collaborate in a role-based manner within the virtual reality environment to implement robot movements and perform interactions, intuitive and practical feedback on user experience can be obtained, and consequently, a robot design suitable for the actual environment and of high quality can be derived. Brief explanation of the drawing

[0008] FIG. 1 is a block diagram schematically illustrating the configuration of a computing system according to various embodiments. Figure 2 is an example diagram illustrating the construction of a workspace of the computing system of Figure 1. Figure 3 is an example diagram illustrating a three-dimensional sketch of the computing system of Figure 1. Figure 4 is an example diagram illustrating virtual reality acting of the computing system of Figure 1. FIG. 5 is a flowchart schematically illustrating the operation method of a computing system according to various embodiments. Specific details for implementing the invention

[0009] Hereinafter, various embodiments of the present disclosure are described with reference to the accompanying drawings.

[0010] The present disclosure proposes a computing system (hereinafter, the computing system (100) of FIG. 1) and a method of operation thereof that provides immersive prototyping for robot design utilizing three-dimensional sketching and virtual reality acting within a restored workspace. Hereinafter, the target environment may refer to a physical space where the robot is actually to be used, that is, a space intended for the robot to actually be deployed or operated. Herein, the target environment may include an indoor space, an outdoor space, or a combination thereof. For example, the target environment may be an office, a home, a factory, a hospital, a commercial facility, a public place, or any space where a specific service is provided. Hereinafter, the workspace refers to a space created by restoring the target environment in three dimensions, and means a reference space where the design and verification of the robot are performed.

[0011] The computing system (100) is structured around three core activities performed by a robot designer, which help to repeatedly explore and improve the form and function of the robot to meet user requirements.

[0012] The first activity is workspace building. The designer effectively obtains realistic 3D models of the target environment and tools. After visiting the actual location and filming, the footage is processed to convert it into a realistic 3D model.

[0013] The second activity is 3D sketching. Designers quickly and easily create the form and structure of the robot on a realistic representation of the environment. Using a pen tablet, they define the robot's form through a 3D curve network and rigg the joints using touch gestures to provide kinematic structure and function.

[0014] The third activity is VR acting. Through collaborative role-playing within a realistic setting, designers experience the robot's movements and services as if they were real. Using VR, multiple designers participate in the same virtual space as either "human" or "robot" roles; the human roles are visualized as avatars, while the robot roles are invisible avatars that are manipulated through gestures of grasping the robot, making it appear as if the robot is moving autonomously.

[0015] While conventional robot development has primarily focused on improving technical elements such as sensing, movement, and manipulation, future commercial robots require standardized design and development processes similar to those of the automotive industry. This disclosure provides a future-oriented system that helps effectively explore and specialize robot forms and functions suitable for specific environments and services.

[0016] FIG. 1 is a block diagram schematically illustrating the configuration of a computing system (100) according to various embodiments. FIG. 2 is an example diagram for explaining the construction of a workspace of the computing system (100) of FIG. 1. FIG. 3 is an example diagram for explaining a three-dimensional sketching of the computing system (100) of FIG. 1. FIG. 4 is an example diagram for explaining virtual reality acting of the computing system (100) of FIG. 1.

[0017] Referring to FIG. 1, a computing system (100) is provided to perform immersive prototyping for robot design and may include at least one of a camera module (110), a communication module (120), an input module (130), a display module (140), an audio module (150), a memory (160), or at least one processor (170). Here, at least one of the components of the computing system (100) may be omitted, and at least one other component may be added to the computing system (100). In some embodiments, at least two of the components of the computing system (100) may be implemented as a single integrated circuit. The components of the computing system (100) may be implemented in a single electronic device or distributed across multiple electronic devices.

[0018] The camera module (110) can capture images from an electronic device. In this case, if the electronic device is implemented as a near-vision display device, the camera module (110) can capture images of the front for a user wearing the electronic device. For example, the camera module (110) may include at least one lens, at least one image sensor, at least one image signal processor, and at least one flash.

[0019] The communication module (120) can communicate with an external device (not shown) from an electronic device. The communication module (120) can establish a communication channel between the electronic device and the external device and communicate with the external device through the communication channel. For example, the external device may include at least one of another electronic device, a server, a database, a base station, or a satellite. The communication module (120) may include at least one of a wired communication module or a wireless communication module. For example, the wireless communication module may communicate with the external device through at least one of a long-distance communication network or a local area network.

[0020] The input module (130) can input a signal to be used in at least one component of the electronic device. The input module (130) may be configured to detect a signal directly input by a user or to generate a signal by detecting changes in the surroundings. For example, the input module (130) may include at least one of a microphone, at least one physical button, or a touch pad. The touch pad may be configured to detect contact, i.e., touch, by a user's finger or stylus pen, and to generate a touch signal in response. Here, the touch pad may include at least one of a touch circuitry configured to detect a touch or a sensor circuit configured to measure the intensity of the force generated by the touch.

[0021] The display module (140) can visually output information to the outside of the electronic device. Specifically, the display module (140) may be configured to display visual content. In this case, the display module (140) may be combined with the touch pad of the input module (150) to be implemented in the form of a touch screen, or may be placed separately from the touch pad of the input module (130). Meanwhile, if the electronic device is implemented as a near-vision display device, the display module (140) may be placed in front of the eyes of a user wearing the electronic device. The display module (140) may have different display methods depending on the type of near-vision display device. For example, the near-vision display device may be an optical see-through or a video see-through type.

[0022] The audio module (150) can audibly output information to the outside of the electronic device. For example, the audio module (150) may include at least one of a speaker or a receiver.

[0023] The memory (160) can store various data used by at least one component of an electronic device. For example, the memory (160) may include at least one of volatile memory or non-volatile memory. The data may include at least one program and associated input data or output data. The program may be stored in the memory (160) as software containing at least one instruction and may include at least one of an operating system, middleware, or application.

[0024] The processor (170) can control at least one component of an electronic device by executing a program in memory (160). Through this, the processor (170) can perform data processing or operations. At this time, the processor (170) can execute instructions stored in memory (160).

[0025] In various embodiments, the processor (170) can construct an immersive workspace by reconstructing the target environment in three dimensions based on image data of the target environment. Here, the image data may include a plurality of frames extracted from an image of the target environment and camera poses corresponding to each of the frames. In one embodiment, the processor (170) can acquire an image through a camera module (110) and detect image data from the image. In another embodiment, the processor (170) can receive an image from an external device through a communication module (120) and detect image data from the image. In yet another embodiment, the processor (170) can receive image data from an external device through a communication module (120). In some embodiments, the processor (170) can construct a workspace from the image data by utilizing a three-dimensional Gaussian splatting technique. The 3D Gaussian splatting technique represents a 3D reconstruction technique that represents a 3D scene as a set of Gaussian primitives, such as ellipsoids, and iteratively optimizes rendering parameters, such as the pose, size, and color of each primitive, to match the input image. For example, as shown in FIG. 2(a), an image is captured, and as shown in FIG. 2(b), a workspace can be constructed based on image data detected from the image.

[0026] In some embodiments, the processor (170) may separate at least one object from the workspace. Here, the object may actually exist within the target environment and be restored in three dimensions along with the workspace. In one embodiment, the processor (170) may create an interactive object from the separated object that can subsequently interact with a robot in a virtual reality environment. In another embodiment, the processor (170) may remove the separated object from the workspace.

[0027] In various embodiments, the processor (170) can sketch a robot in three dimensions according to user input within the workspace. The processor (170) can visualize the workspace through the display module (140) and detect user input through the input module (130). Based on this, the processor (170) can define the size, shape, and structure of the robot within the workspace in a contextually appropriate manner for the target environment. In addition, the processor (170) can define the movement of the robot within the workspace in a contextually appropriate manner for the target environment.

[0028] The processor (170) can define the size, shape, and structure of the robot by converting two-dimensional curves into three-dimensional curves according to user input. Specifically, the processor (170) can generate a sketch plane according to user input, wherein the sketch plane can be generated to be freely movable with six degrees of freedom. The sketch plane may refer to a virtual reference plane established to generate two-dimensional curves based on user input within a workspace. For example, as the user touches a grid line or a previous three-dimensional curve with a finger or a stylus pen, the processor (170) can generate position anchors to generate the sketch plane. Additionally, the processor (170) can generate at least one two-dimensional curve on the sketch plane according to user input. For example, as the user applies two-dimensional sketching with a stylus pen, the processor (170) can generate a two-dimensional curve. Furthermore, the processor (170) can convert the two-dimensional curve into at least one three-dimensional curve by projecting it into three-dimensional space. In this way, the size, shape, and structure of the robot can be created, for example, as shown in Fig. 3(a).

[0029] The processor (170) can rig the joints of the robot and define the function of the joints by dividing at least some of the three-dimensional curves according to user input. Here, the joints may include at least one of a hinge joint, a linear slider joint, a curved slider joint, or a ball joint. Specifically, the processor (170) can define the position of the joints by dividing at least one three-dimensional curve into at least two parts. For example, as the user applies a crossing gesture similar to coloring with a finger or a stylus pen, the processor (170) can divide the three-dimensional curves into parts. Then, the processor (170) can define the movement of the joints by repeatedly moving at least some of the parts together with a sketching plane. In this way, the kinematic structure of the robot, that is, the position and orientation of the joints, can be generated, for example, as illustrated in FIG. 3(b).

[0030] In various embodiments, the processor (170) can verify the robot by making the robot operate in a virtual reality environment corresponding to the workspace. The processor (170) can create a virtual reality environment based on the workspace. Here, the virtual reality environment is created based on the workspace and may be an environment having the same spatial arrangement and geometric structure as the workspace. For example, the processor (170) can create a virtual reality environment by reflecting the geometric structure, object arrangement, and visual characteristics of the workspace. The processor (170) can visualize the virtual reality environment through the display module (140) and detect user input through the input module (130). Based on this, the processor (170) can realistically experience the robot's movements and services within the target environment. At this time, the processor (170) can generate natural movements of the robot by calculating the robot's posture in real time using inverse kinematics. In this way, the processor (170) can experience the robot's movements and services and perform human-robot interactions, thereby verifying the robot's functional suitability. That is, verification may include evaluating the robot's movements, services, and human-robot interactions.

[0031] In one embodiment, the processor (170) can move the robot by a user. More specifically, the user, as a participant in the robot role, can manipulate the robot through an avatar to make it move as if the robot were operating autonomously. In another embodiment, the processor (170) can interact with the robot while moving it by a number of participants, including the user. The participants may include at least one participant in the robot role and at least one other participant in the human role. More specifically, the participant in the robot role can manipulate the robot through an avatar to make it move as if the robot were operating autonomously, and the other participant in the human role can interact with the robot through an avatar. The participants can verify the robot service scenario by performing role-playing-based collaborative interactions. For example, as illustrated in FIG. 4(a), the participant in the robot role can manipulate the robot, and as illustrated in FIG. 4(b), the other participant in the human role can experience the robot's service. Here, at least one of the participant in the robot role or the other participant in the human role can manipulate interactive objects in the virtual reality environment. The avatar of the participant in the robot role may not be visualized, while the avatar of the other participant in the human role may be visualized. That is, the avatar of the participant in the robot role can be made transparent so that it appears as if the robot is moving on its own. Meanwhile, the participant in the robot role can adjust the size of their avatar, thereby allowing them to easily manipulate robots of very large or small sizes.

[0032] For example, as the participant in the robot role applies a grab gesture with the non-dominant hand, the processor (170) can fix the parent part of the robot, and as the participant in the robot role applies a grab gesture with the dominant hand, the processor (170) can move or rotate the child part of the robot. As another example, by the participant in the robot role grabbing the same part of the robot with both hands, the processor (170) can move the entire robot.

[0033] In various embodiments, the processor (170) can modify the robot based on the verification results of the robot and the user's input within the workspace.

[0034] FIG. 5 is a flowchart schematically illustrating the operation method of a computing system (100) according to various embodiments.

[0035] Referring to FIG. 5, first, in step 510, the processor (170) can construct an immersive workspace by reconstructing the target environment in three dimensions based on image data of the target environment. Here, the image data may include a plurality of frames extracted from an image of the target environment and camera poses corresponding to each of the frames. In one embodiment, the processor (170) can acquire an image through a camera module (110) and detect image data from the image. In another embodiment, the processor (170) can receive an image from an external device through a communication module (120) and detect image data from the image. In yet another embodiment, the processor (170) can receive image data from an external device through a communication module (120). In some embodiments, the processor (170) can construct a workspace from the image data by utilizing a three-dimensional Gaussian splatting technique.

[0036] In some embodiments, the processor (170) may separate at least one object from the workspace. Here, the object may actually exist within the target environment and be restored in three dimensions along with the workspace. In one embodiment, the processor (170) may create an interactive object from the separated object that can subsequently interact with a robot in a virtual reality environment. In another embodiment, the processor (170) may remove the separated object from the workspace.

[0037] Next, in step 520, the processor (170) can sketch the robot in three dimensions according to user input within the workspace. The processor (170) can visualize the workspace through the display module (140) and detect user input through the input module (130). Based on this, the processor (170) can define the size, shape, and structure of the robot within the workspace in a contextually appropriate manner for the target environment. In addition, the processor (170) can define the movement of the robot within the workspace in a contextually appropriate manner for the target environment.

[0038] The processor (170) can define the size, shape, and structure of the robot by converting two-dimensional curves into three-dimensional curves according to user input. Specifically, the processor (170) can generate a sketch plane according to user input, wherein the sketch plane can be generated to be freely movable with six degrees of freedom. The sketch plane may refer to a virtual reference plane established to generate two-dimensional curves based on user input within a workspace. For example, as the user touches a grid line or a previous three-dimensional curve with a finger or a stylus pen, the processor (170) can generate position anchors to generate the sketch plane. Additionally, the processor (170) can generate at least one two-dimensional curve on the sketch plane according to user input. For example, as the user applies two-dimensional sketching with a stylus pen, the processor (170) can generate a two-dimensional curve. Furthermore, the processor (170) can convert the two-dimensional curve into at least one three-dimensional curve by projecting it into three-dimensional space.

[0039] The processor (170) can rig the joints of the robot and define the function of the joints by dividing at least some of the three-dimensional curves according to user input. Here, the joints may include at least one of a hinge joint, a linear slider joint, a curved slider joint, or a ball joint. Specifically, the processor (170) can define the position of the joints by dividing at least one three-dimensional curve into at least two parts. For example, as the user applies a cross gesture similar to coloring with a finger or a stylus pen, the processor (170) can divide the three-dimensional curves into parts. Then, the processor (170) can define the movement of the joints by repeatedly moving at least some of the parts together with a sketching plane.

[0040] Next, in step 530, the processor (170) can verify the robot by having the robot operate in a virtual reality environment corresponding to the workspace. The processor (170) can create a virtual reality environment based on the workspace. Here, the virtual reality environment is created based on the workspace and may be an environment having the same spatial arrangement and geometric structure as the workspace. For example, the processor (170) can create a virtual reality environment by reflecting the geometric structure, object arrangement, and visual characteristics of the workspace. The processor (170) can visualize the virtual reality environment through the display module (140) and detect user input through the input module (130). Based on this, the processor (170) can realistically experience the robot's movements and services within the target environment. At this time, the processor (170) can generate natural movements of the robot by calculating the robot's posture in real time using inverse kinematics. In this way, the processor (170) can experience the robot's movements and services and perform human-robot interactions, thereby verifying the robot's functional suitability. That is, verification may include evaluating the robot's movements, services, and human-robot interactions.

[0041] In one embodiment, the processor (170) can move the robot by a user. More specifically, the user, as a participant in the robot role, can manipulate the robot through an avatar to make it move as if the robot were operating autonomously. In another embodiment, the processor (170) can interact with the robot while moving the robot by a number of participants, including the user. The participants may include at least one participant in the robot role and at least one other participant in the human role. More specifically, the participant in the robot role can manipulate the robot through an avatar to make it move as if the robot were operating autonomously, and the other participant in the human role can interact with the robot through an avatar. The participants can verify the robot service scenario by performing role-playing-based collaborative interactions. Here, at least one of the participant in the robot role or the other participant in the human role can manipulate an interactive object in the virtual reality environment. The avatar of the participant in the robot role may not be visualized, and the avatar of the other participant in the human role may be visualized. In other words, the avatar of the participant playing the robot role can be made transparent, making it appear as if the robot is moving on its own. Meanwhile, the participant playing the robot role can adjust the size of their avatar, thereby allowing them to easily control robots of very large or small sizes.

[0042] Next, optionally, in step 540, the processor (170) can modify the robot based on the verification results of the robot and the user's input within the workspace.

[0043] According to the present disclosure, by designing a robot within a reconstructed workspace based on the target environment in which the robot will actually be used, and verifying the robot in a virtual reality environment corresponding to the workspace, a robot can be designed to be contextually suitable for the target environment. Accordingly, designers can realistically experience and evaluate the size, form, structure, and movement of the robot from an early stage, and verify human-robot interaction and service scenarios without producing a physical prototype. Furthermore, as design and verification are repeatedly performed within the same target environment through 3D sketching and virtual reality acting, the efficiency of design modifications is improved, and time and costs in the development process can be reduced. Moreover, since multiple participants can collaborate in a role-based manner within the virtual reality environment to implement robot movements and perform interactions, intuitive and practical feedback on user experience can be obtained, and consequently, a robot design suitable for the actual environment and of high quality can be derived.

[0044] The system described above may be implemented as a hardware component, a software component, and / or a combination of a hardware component and a software component. For example, the system and components described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0045] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be embodied in any type of machine, component, physical device, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0046] The method according to various embodiments may be implemented in the form of program instructions that can be executed through various computer means and may be recorded on a computer-readable medium. In this case, the medium may continuously store a computer-executable program or temporarily store it for execution or download. Furthermore, the medium may be various recording or storage means in the form of a single or multiple hardware combinations, and is not limited to a medium directly connected to a computer system but may also exist distributed over a network. Examples of the medium include ROM, PROM, EPROM, EEPROM, flash memory (e.g., NAND / NOR), SSD, HDD, magnetic tape, optical recording media (CD-ROM, DVD, BD), magneto-optical media, memory cards, USB memory, etc. The medium refers to a non-transient medium and does not include the transmission signal itself or purely volatile memory (e.g., RAM).

[0047] The various embodiments of this document and the terms used therein are not intended to limit the technology described in this document to specific embodiments and should be understood to include various modifications, equivalents, and / or substitutions of such embodiments. In relation to the description of the drawings, similar reference numerals may be used for similar components. A singular expression may include a plural expression unless the context clearly indicates otherwise. In this document, expressions such as "A or B," "at least one of A and / or B," "A, B or C," or "at least one of A, B and / or C" may include all possible combinations of items listed together. Expressions such as "first," "second," "first," or "second" may modify the components, regardless of order or importance, and are used only to distinguish one component from another and do not limit the components. When it is mentioned that a certain (e.g., first) component is "(functionally or telecommunicationally) connected" or "connected" to another (e.g., second) component, said certain component may be directly connected to said other component or connected through another component (e.g., third component).

[0048] As used in this document, the term "module" includes a unit composed of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be a component formed as a whole, or a minimum unit or part thereof that performs one or more functions. For example, a module may be composed of an application-specific integrated circuit (ASIC).

[0049] According to various embodiments, each component (e.g., module or program) of the described components may include a singular or multiple entities. According to various embodiments, one or more of the aforementioned components or steps may be omitted, or one or more other components or steps may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as they were performed by the corresponding component among the multiple components prior to integration. According to various embodiments, steps performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically; one or more of the steps may be executed in a different order; omitted; or one or more other steps may be added.

Claims

Claim 1 An immersive prototyping method for robot design performed by a computing system, comprising: a step of constructing a workspace by restoring a target environment in three dimensions based on image data of the target environment; a step of sketching a robot in three dimensions within the workspace according to user input; and a step of verifying the robot by making the robot operate in a virtual reality environment corresponding to the workspace. Claim 2 An immersive prototyping method according to claim 1, wherein the step of constructing the workspace comprises the step of constructing the workspace from the image data using a 3D Gaussian splatting technique. Claim 3 An immersive prototyping method according to claim 1, further comprising the step of separating at least one object in the workspace to create an interactive object capable of interacting with the robot in the virtual reality environment. Claim 4 An immersive prototyping method according to claim 1, wherein the image data comprises a plurality of frames extracted from an image taken of the target environment and camera poses corresponding to each of the frames. Claim 5 An immersive prototyping method according to claim 1, wherein the step of sketching the robot in three dimensions comprises: a step of defining the size, shape, and structure of the robot by converting two-dimensional curves generated according to the input of the user into three-dimensional curves; and a step of rigging the joints of the robot and defining the functions of the joints by dividing at least some of the three-dimensional curves according to the input of the user. Claim 6 In claim 5, the joint comprises at least one of a hinge joint, a linear slider joint, a curved slider joint, or a ball joint, in an immersive prototyping method. Claim 7 In claim 5, the step of defining the size, shape, and structure of the robot comprises: generating a sketch plane that is freely movable in 6 degrees of freedom according to the input of the user; generating at least one 2D curve in the sketch plane according to the input of the user; and projecting the 2D curve into a 3D space to convert it into at least one 3D curve, and the step of rigging the joint of the robot and defining the function of the joint comprises: dividing the 3D curve into at least two parts to define the position of the joint; and moving at least some of the parts together with the sketching plane to define the movement of the joint, an immersive prototyping method. Claim 8 An immersive prototyping method according to claim 1, wherein the step of verifying the robot comprises at least one of the steps of: manipulating the robot through an avatar by a participant in the robot role to make the robot move as if it were operating autonomously; or interacting with the robot through an avatar by at least one other participant in the human role. Claim 9 In claim 8, an immersive prototyping method in which the avatar of the participant in the robot role is made transparent so that the robot appears to move on its own. Claim 10 In claim 8, an immersive prototyping method in which at least one of the participant in the robot role or the other participant in the human role manipulates an interactive object in the virtual reality environment. Claim 11 An immersive prototyping method according to claim 1, further comprising the step of modifying the robot according to the user's input within the workspace based on the verification result of the robot. Claim 12 A computing system for performing immersive prototyping for robot design, comprising: a display module configured to visualize a workspace on a screen; an input module configured to detect user input; and at least one processor connected to the display module and the input module and configured to generate a design of a robot in the workspace according to the user input, wherein the processor constructs the workspace by restoring the target environment in three dimensions based on image data of the target environment, sketches the robot in three dimensions in the workspace according to the user input, and verifies the robot by causing the robot to operate in a virtual reality environment corresponding to the workspace. Claim 13 A computer program stored on a non-transient computer-readable recording medium for executing an immersive prototyping method for robot design on a computing system, wherein the immersive prototyping method comprises: a step of constructing a workspace by restoring a target environment in three dimensions based on image data of the target environment; a step of sketching a robot in three dimensions within the workspace according to user input; and a step of verifying the robot by causing the robot to operate in a virtual reality environment corresponding to the workspace.

Images