Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse

• Main Author: Ng, Chun Lin
• Other Authors: Chen I-Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering
• Online Access: https://hdl.handle.net/10356/177899
• Institution: Nanyang Technological University

As we enter an era dominated by evolving technologies, robotics is often at the forefront, advancing technologies across various industries. The emergence of high-fidelity simulation platforms, such as Nvidia Isaac Sim, has provided researchers and developers with tools to prototype, test and refine robotics algorithms in virtual environments. This study will explore the use of Nvidia Omniverse Isaac Sim for simulation-to-real transfer of mobile manipulators. It will also examine Isaac Sim's capabilities and determine its suitability as a complete simulation package for robotics. By utilising Isaac Sim alongside a real robot, this study hopes to demonstrate the capability for the sim-to-real transfer of Isaac Sim.