Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/70466
Title: Robot Operating System (ROS) based simulator for Hexapod system
Authors: Toh, Yan Han
Keywords: DRNTU::Engineering::Computer science and engineering::Computing methodologies::Simulation and modeling
Issue Date: 2017
Abstract: Technological advancements have been agile and steady since the early era of the industrial revolution. Machines are part of everyday life and robots are slowly taking over critical tasks which require precision and incur high risk. This report documents the Robotic Operating System (ROS) usage to create a simulator for a hexapod to test real-time algorithms. The hexapod will replace a person in stipulated scenarios such that it can proceed more effectively and protects the person from any possible risk within the tasks. The Ubuntu/ROS is used to set up this project, utilizing the RVIZ simulator to simulate the hexapod. The hexapod is designed and the gait kinematics is discussed and implemented. The hexapod is put through a series of simulations to test the gait kinematics as implemented while ensuring that stability of the hexapod is maintained such that it will be feasible for real-life stipulated usages.
URI: http://hdl.handle.net/10356/70466
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:SCSE Student Reports (FYP/IA/PA/PI)

Files in This Item:
File Description SizeFormat 
FYP_Report_Toh_Yan_Han.pdf
  Restricted Access
FYP Report3.46 MBAdobe PDFView/Open

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.