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Implementation and Benchmarking of a Whegs Robot in the USARSim Environment

Taylor, Brian Kyle
http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284

Abstract Details

2008, Master of Sciences (Engineering), Case Western Reserve University, Mechanical Engineering.
Simulating robots in a virtual domain has multiple benefits, including serving as a training tool for end-users and a tool for robot development/testing. USARSim (Unified System for Automation and Robot Simulation) is a tool that can accomplish these goals. It is based on the Unreal Tournament 2004 gaming engine, which approximates the physics of how robots interact with their environments. Whegs™ robots (mobile ground vehicles that derive robust locomotion from abstracted biological principles) can benefit from simulation in USARSim. This thesis describes a Whegs™ robot model that was constructed and benchmarked in USARSim. The simulation was given the same behavioral characteristics as real Whegs™ vehicles and then validated. Qualitative tests were performed for basic walking and climbing to understand the vehicle's behavior. Quantitative tests were performed for basic walking to: compare the simulated robot's rotational body movements to those of the real robot, and to improve the simulation's performance.
Roger Quinn, PhD (Committee Chair)
Christopher Hernandez, PhD (Committee Member)
Joseph Mansour, PhD (Committee Member)
105 p.
Mechanical Engineering
USARSim; Biologically Inspired Robots; Whegs; Urban Search and Rescue; Simulation; Benchmarking; Validation

Recommended Citations

Citations

  • Taylor, B. K. (2008). Implementation and Benchmarking of a Whegs Robot in the USARSim Environment [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284

    APA Style (7th edition)

  • Taylor, Brian. Implementation and Benchmarking of a Whegs Robot in the USARSim Environment. 2008. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284.

    MLA Style (8th edition)

  • Taylor, Brian. "Implementation and Benchmarking of a Whegs Robot in the USARSim Environment." Master's thesis, Case Western Reserve University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284

    Chicago Manual of Style (17th edition)

case1215620284
2,260
© 2008, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.