DESIGN AND IMPLEMENTATION OF QUADRUPED ROBOT DOMBABOT USING ROS AND GAZEBO WITH CAN BUS COMMUNICATION, POWER AND MOVEMENT SYSTEM

• Main Author: Wijaya, Edi
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/50958
• Institution: Institut Teknologi Bandung

Robot development is generally costly. However, robot modeling can help robot developers to verify the robot model through simulation. This will minimize the risk of failing in physical implementation. In this paper, the four-legged robot Dombabot is implemented using the URDF model and simulated through the Gazebo and run using ROS and its components. In addition, this paper also explains the attachable-module communication component, CAN Bus. The method used in this scientific paper is a descriptive method using the results of the tests that have been carried out. The results of the implementation of the model in Gazebo and ROS shows that the 3D model in the form of .dae provided by the partner company Dombabot can be implemented optimally and has met the design specification of each limb of the robot. In addition, the results of the CAN Bus implementation have met the specifications required in robot development. Also, the implementation of power and drive systems has been met the predetermined specifications. Therefore, further Dombabot development has to be carried out using URDF design in which each robot frame approaches the optimal Dombabot design. This will need a more consice and detailed 3D model with its moment, inertia, and mass definition which important for next robot development.