Setiono, Daniel and Rusyadi, Rusman and Budiarto, Eka (2017) Development Of Humanoid Robot Simulation Using Gazebo Simulator. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis is to simulate and study the behavior of humanoid robot including the gait algorithm. The robot has the ability to walk straight, move to the left/right and turn to left/right. Furthermore, the navigation system will be implemented to the robot. The navigation system will be divided into two sections, which are an autonomous navigation to avoid obstacle and navigation based on a map. To be able to success in implementing the navigation, the robot has to have the correct odometry data, a map, and a sensor data. That is why there will be a modification to the robot, in terms of the robot model and the sensor. All of these will be done by using the combination of ROS and Gazebo features because both are open-source software and provide a flexible framework for writing robot software. Several adjustments can be made to the simulation parameters to provide more realistic performance. Some comparison between the simulation and the real robot will be analyzed.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Simulation; Gazebo; ROS; Humanoid Robot; Navigation.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	15 May 2020 08:42
Last Modified:	15 May 2020 08:42
URI:	http://repository.sgu.ac.id/id/eprint/388

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