TY - GEN
T1 - Constructing ROS package for legged robot in gazebo simulation from scratch
AU - Yeoh, C. E.
AU - Kim, D. B.
AU - Won, Y. B.
AU - Lee, S. R.
AU - Yi, H.
N1 - Publisher Copyright:
© 2020 Institute of Control, Robotics, and Systems - ICROS.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - Robot Operating System, (ROS) is one of the open-source, meta-operating system, which is now widely used as the robotic software platform and can be applicable for anyone who wanted to build their robot from scratch. For the credit of the beneficial of ROS, the work of this paper describes all the process and structure of the package construction for the legged robot simulation in Gazebo. There are five mains folders consisted in the package, which are configuration file (config), launch file (launch), meshes folder (meshes), script folder (script), Universal robot definition format folder (urdf), and worlds folder (worlds). In this research, Pseudo-inverse Jacobian was implemented to obtain the optimal angular joint for every step walking during the simulation. Result of the walking robot simulation are shown to have the least error range around 0.0365 m to 0.0867 m differ from the actual target position.
AB - Robot Operating System, (ROS) is one of the open-source, meta-operating system, which is now widely used as the robotic software platform and can be applicable for anyone who wanted to build their robot from scratch. For the credit of the beneficial of ROS, the work of this paper describes all the process and structure of the package construction for the legged robot simulation in Gazebo. There are five mains folders consisted in the package, which are configuration file (config), launch file (launch), meshes folder (meshes), script folder (script), Universal robot definition format folder (urdf), and worlds folder (worlds). In this research, Pseudo-inverse Jacobian was implemented to obtain the optimal angular joint for every step walking during the simulation. Result of the walking robot simulation are shown to have the least error range around 0.0365 m to 0.0867 m differ from the actual target position.
KW - Gazebo simulation
KW - Legged robot
KW - Pseudo-inverse Jacobian
KW - Robot operating system (ROS)
UR - http://www.scopus.com/inward/record.url?scp=85098096259&partnerID=8YFLogxK
U2 - 10.23919/ICCAS50221.2020.9268358
DO - 10.23919/ICCAS50221.2020.9268358
M3 - Conference contribution
AN - SCOPUS:85098096259
T3 - International Conference on Control, Automation and Systems
SP - 94
EP - 99
BT - 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PB - IEEE Computer Society
T2 - 20th International Conference on Control, Automation and Systems, ICCAS 2020
Y2 - 13 October 2020 through 16 October 2020
ER -