Simulation for senior undergraduate education of robot engineering based on Webots

Yue, Haosong; Miao, Jinyu; Zhang, Jinqing; Fan, Changbo; Xu, Dong

doi:10.1002/cae.22377

Cited by 7 publications

(3 citation statements)

References 33 publications

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“…al [8] and Yue et. al [9] have highlighted the growing role of robotic simulators in engineering education. These simulators offer numerous advantages, including cost-effectiveness, scalability, and the ability to facilitate remote learning, which became especially important during the COVID-19 pandemic.…”

Section: Robotics Simulators In Engineering Educationmentioning

confidence: 99%

Exploring Micro Aerial Vehicle Mechanism and Controller Design Using Webots Simulation

Pebrianti,

Suhaimi,

Bayuaji

et al. 2023

MEKATRONIKA

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Quadrotor Micro Aerial Vehicle (MAV) is one of the Unmanned Aerial Vehicle (UAV) which very versatile with their capabilities for specific purposes. Understanding and controlling MAV is important for various applications, from surveillance and delivery services to disaster response and entertainment. In engineering education, providing a hardware platform for understanding MAV mechanism and the controller design is very challenging in terms of cost and safety issue. This paper presents a study on drone mechanisms and controller design using Webots, a versatile robot simulation environment. The primary objectives of this research were to simulate and analyze the behavior of drones in a line following task, employing PID controller as the control strategies, and to evaluate the suitability of Webots as a simulation tool for drone-related teaching and learning as well as research. In the methodology section, the setup of the Webots-based drone simulation, including the selection of a suitable drone model, sensor configurations, and the implementation of control algorithms will be explained. Line following task will be focused to analyze the drone mechanism and the controller design. Data on the drone performance will be collected through the experiment and will be analyzed rigorously. The findings reveal the effectiveness of Webots as a platform for simulating drone behavior. The advantages of using simulation tools like Webots, including cost-effectiveness, safety, and the ability to test and refine control algorithms before deployment on physical drones was proved in this study. It is shown that Webots can be leveraged to teach and train individuals in drone technology without the need for physical hardware.

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Section: Robotics Simulators In Engineering Educationmentioning

confidence: 99%

Exploring Micro Aerial Vehicle Mechanism and Controller Design Using Webots Simulation

Pebrianti,

Suhaimi,

Bayuaji

et al. 2023

MEKATRONIKA

View full text Add to dashboard Cite

show abstract

“…(Lin et al , 2021). Rostami et al (2019) added adjustment factors to the traditional APF function to bypass obstacles to overcome local minimum and target unreachable problems; Yao et al (2020) solved complex environmental problems from the perspective of reinforcement learning, combining black hole APF and reinforcement learning to solve the local stable point problem, but oscillation phenomenon will occur in the process of path planning; Zhao et al (2020) proposed the domain to solve the local stable point problem of the multitarget point task, and escape from the local minimum through the domain field when the robot falls into the local minimum point, but does not consider whether the robot can reach the target point under the complex environment (Yue et al , 2021; Zha and Chen, 2019). Because the slope terrain is time-varying, it is difficult for the legged robot to move stably in these terrains in the form of fixed gait.…”

Section: Introductionmentioning

confidence: 99%

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Wang

Song

Renquan

et al. 2022

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Purpose Aiming at the problem that quadruped crawling robot is easy to collide and overturn when facing obstacles and bulges in the process of complex slope movement, this paper aims to propose an obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition. Design/methodology/approach First, considering the problem of low uniformity of feature points in terrain recognition images under complex slopes, which leads to too long feature point extraction time, an improved ORB (Oriented FAST and Rotated BRIEF) feature point extraction method is proposed; second, when the robot avoids obstacles or climbs over bumps, aiming at the problem that the robustness of a single step cannot satisfy the above two motions at the same time, the crawling gait is planned according to the complex slope terrain, and a robot obstacle avoidance gait planning based on the artificial potential field method is proposed. Finally, the slope walking experiment is carried out in the Robot Operating System. Findings The proposed method provides a solution for the efficient walking of robot under slope. The experimental results show that the extraction time of the improved ORB extraction algorithm is 12.61% less than the original ORB extraction algorithm. The vibration amplitude of the robot’s centroid motion curve is significantly reduced, and the contact force is reduced by 7.76%. The time it takes for the foot contact force to stabilize has been shortened by 0.25 s. This fact is verified by simulation and test. Originality/value The method proposed in this paper uses the improved feature point recognition algorithm and obstacle avoidance gait planning to realize the efficient walking of quadruped crawling robot on the slope. The walking stability of quadruped crawling robot is tested by prototype.

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“…With the development of robot technology, robots are extensively used in production and daily life [3,36]. Therefore, many colleges and universities have introduced robotics engineering for undergraduates to cultivate their innovative talents in the field of robotics [40]. Robotics engineering has the characteristics of multidisciplinary intersection and clear application orientation [17].…”

Section: Introductionmentioning

confidence: 99%

Construction of a competition practice system for robotics engineering based on a competency model

Zhang

Meng

et al. 2022

Comp Applic In Engineering

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Competition practice is of great significance for improving the engineering ability of undergraduates majoring in robotics engineering, and it occupies an important position in practical teaching systems. However, most existing competitions are spontaneously participated by students, and problems, such as poor systemicity, unclear ability‐training goals, and lack of an effective evaluation system, occur, resulting in limited improvement in students' ability. In this paper, a competency model for robotics engineering was proposed. It includes four dimensions: knowledge, skills, dispositions, and evaluation. The first three dimensions comprise multiple secondary and tertiary indices. On this basis, a competition practice system was established. The system includes four practical course groups and a final competition, and the competency model runs through before, during, and after practice. The competition practice system based on the competency model was applied to two groups of students. The analysis results show that students have a clear understanding of their own ability, and their comprehensive ability has been improved. This finding provides a reference for the construction of practice systems for other engineering majors.

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Simulation for senior undergraduate education of robot engineering based on Webots

Cited by 7 publications

References 33 publications

Exploring Micro Aerial Vehicle Mechanism and Controller Design Using Webots Simulation

Exploring Micro Aerial Vehicle Mechanism and Controller Design Using Webots Simulation

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Construction of a competition practice system for robotics engineering based on a competency model

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