A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation
Abstract: The purpose of this
work is to study and analyze mobile robot behavior. In performing this, a
framework is adopted and developed for mobile and bipedal robot. The robots are
design, build, and run as proceed from the development of mechanical structure,
electronics and control integration, and control software application. The
behavior of those robots are difficult to be observed and analyzed
qualitatively. To evaluate the design and behavior quality, modeling and
simulation of robot structure and its task capability is performed. The
stepwise procedure to robot behavior study is explained. Behavior cases study
are experimented to bipedal robots, transporter robot and Autonomous Guided
Vehicle (AGV) developed at our institution. The experimentation are conducted
on those robots by adjusting their dynamic properties and/or surrounding
environment. Validation is performed by comparing the simulation result and the
real robot execution. The simulation gives a more idealistic behavior execution
rather than realistic one. Adjustments are performed to fine tuning
simulation's parameters to provide a more realistic performance.
Author: Nirmala, Prianggada
Indra Tanaya, Maralo Sinaga
Journal Code: jptinformatikagg150009
