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IJMERR 2022 Vol.11(6): 417-421

Servosila Engineer Crawler Robot Modelling in Webots Simulator

Alexandra Dobrokvashina 1, Roman Lavrenov 1, Evgeni Magid 2, Yang Bai 3, Mikhail Svinin 3, and Roman Meshcheryakov 4
1. Intelligent Robotics Department, Kazan Federal University, Kazan, Russia
2. HSE University, Moscow, Russia
3. Information Science and Engineering Department, Ritsumeikan University, Kyoto, Japan
4. Cyber-physical Lab, V. A. Trapeznikov Institute of Control Sciences, Russian Academy of Science, Moscow, Russia

Abstract— In robotics, a simulation is an essential stage on a way of transferring a theoretical idea into a real world application. Since each popular simulator for robotics has particular advantages and shortcomings, it could be beneficial to simulate an algorithm behavior in several modelled instances prior to its integration into a real robot control system. This paper presents a new model of the Russian crawler type robot Servosila Engineer for the Webots simulator, which extends our previous work within the Gazebo simulator. The robot control is implemented with Robot Operating System (ROS). Webots-based simulations were reproduced using our mature Servosila Engineer robot model in Gazebo and validated within real random step environments of the laboratory.

Index Terms— mobile robot, crawler robot, Servosila Engineer, urban search and rescue, Webots, ROS, simulation, modelling

Cite: Alexandra Dobrokvashina, Roman Lavrenov, Evgeni Magid, Yang Bai, Mikhail Svinin, and Roman Meshcheryakov, "Servosila Engineer Crawler Robot Modelling in Webots Simulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 6, pp. 417-421, June 2022. DOI: 10.18178/ijmerr.11.6.417-421

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.