Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
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
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