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undergraduate thesis
Simulacija robota hodača u Gazebo simulatoru
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:066257
Grabar, Petar
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Grabar, P. (2023). Simulacija robota hodača u Gazebo simulatoru (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:066257

Grabar, Petar. "Simulacija robota hodača u Gazebo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:066257

Grabar, Petar. "Simulacija robota hodača u Gazebo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:066257

Grabar, P. (2023). 'Simulacija robota hodača u Gazebo simulatoru', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 21 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:066257

Grabar P. Simulacija robota hodača u Gazebo simulatoru [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 November 21] Available at: https://urn.nsk.hr/urn:nbn:hr:235:066257

P. Grabar, "Simulacija robota hodača u Gazebo simulatoru", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:066257

Metadata
TitleSimulacija robota hodača u Gazebo simulatoru
Title (english)Simulation of quadruped robot with Gazebo simulator
AuthorPetar Grabar
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-03-02, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:066257
Study programmeTitle: 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 resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence Attribution-NoDerivatives 4.0 International (CC BY-ND 4.0) icon
Created on2023-02-24 11:23:44