Simulacija robota hodača u Gazebo simulatoru

undergraduate thesis

• Title (english): Simulation of quadruped robot with Gazebo simulator
• Author: Petar Grabar
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Glavni cilj ovog rada jest napraviti simulaciju četveronožnog robota (Spot) u Gazebo
simulatoru tako da se on može navigirati po mapi uz obilaženje prepreka. Za implementaciju
hodanja postoje već gotovi algoritmi hodanja kao što je ovdje Champ koji omogućuje izradu
novog robota te je moguće napraviti konfiguraciju za Champ i implementirati algoritme za
mapiranje, lokalizaciju i navigaciju četveronožnih robota pomoću ROS-a. Kao dio rada kratko
su opisani četveronožni roboti, ROS i Gazebo, a napravljeni je i pregled komercijalno dostupnih
četveronožnih robota i njihova usporedba te pregled open source algoritma za hodanje kako bi
se mogle opisati moguće kretnje četveronožni robota. U radu je Spot opisan urdf datotekom
kojom se definiraju sve značajke robota za simulaciju u Gazebo-u i RViz-u. Prikazani su
mapiranje prostora u simulaciji, lokalizacija i navigiranje robota uz čitanje podataka sa senzora.
Također je opisana inverzna kinematika robota strukture kao Spot te način generiranja hoda
četveronožnih robota načinom troting(hodanje s dijagonalnim nogama). Za navigaciju robota
DWA algoritam daje zadovoljavajuće rezultate.

Abstract (english)

The main goal of this paper is to simulate a quadruped robot (Spot) in the Gazebo simulator so
that it can move around the map while avoiding obstacles. To implement walking, there are
ready-made walking algorithms such as Champ here, which allows the creation of a new robot,
and it is possible to make a configuration for Champ and implement algorithms for mapping,
localization and navigation of a quadruped robot using ROS. As part of the paper, quadruped
robots, ROS and Gazebo are briefly described, and an overview of commercially available
quadruped robots and their comparison is made, as well as an overview of open-source walking
algorithms to describe the possible movement of quadruped robots. In the paper, Spot is
described with a urdf file that defines all the features of the robot for simulation in Gazebo and
RViz. Mapping of space in the simulation, localization and navigation of the robot along with
reading data from the sensors are shown. Also described is the inverse kinematics of the robot
structure as Spot, and the method of generating the gait of a quadruped robot using the trotting
method(wlking with diagonal legs). For robot navigation, the DWA algorithm gives satisfactory
results.

• Keywords: četveronožni robot hodač; Gazebo; ROS; Champ; algoritmi hodanja; simulacija praćenja putanje; gmapping
• Keywords (english): quadruped robot; Gazebo; ROS; Champ; walking algorithms; path tracking simulation; gmapping
• Language: croatian
• URN:NBN: urn:nbn:hr:235:066257
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-02-24 11:23:44