RESPONSE MODELLING OF NIMBY ACTUATOR IN PHYSICAL SIMULATION SOFTWARE WITH ROS FRAMEWORK
Legged robots have the advantage of flexibility in motion with the disadvantage of more complex motion control than wheeled robots. In a wheeled robot, the majority of the movement is carried out by providing a certain vector velocity according to the robot's construction, while in a legged...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/51108 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Legged robots have the advantage of flexibility in motion with the disadvantage of
more complex motion control than wheeled robots. In a wheeled robot, the majority of
the movement is carried out by providing a certain vector velocity according to the
robot's construction, while in a legged robot, it is necessary to generate a motion
pattern and a phase difference between one leg and another. The complexity of this
motion makes the development of a legged robot difficult to do, especially from the
construction of the leg shape, the selection of actuators, and the generation of the
motion pattern itself. This article discusses a software architecture system that can be
easily developed and can be simulated synchronously with the real actuator system
that will be used on the development of robot leg. To do this, we need a system that
can send input to the simulator and communicate with the hardware that will be part
of the four-legged robot to be developed.
The system that has been built is part of the development of “Dombabot”, a fourlegged robot. Part of Dombabot robot system discussed in this document are
simulation and software system. To make sure continuation development of this robot,
ROS framework has been used as backend communication for each process. All of
these processes are proven to successfully extracted send 12 joint data to both
hardware and simulation system of this robot. To replicate Dombabot dimension in
for simulation purpose, urdf file format is used and verified in Gazebo, a physical
simulation software. However, our methods to tune PID parameter to replicate the
exact response of the real actuator has not showed satisfied result because the lack of
internal parameter taken into our model.
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