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Simulation for senior undergraduate education of robot engineering based on Webots
Author(s) -
Yue Haosong,
Miao Jinyu,
Zhang Jinqing,
Fan Changbo,
Xu Dong
Publication year - 2021
Publication title -
computer applications in engineering education
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.478
H-Index - 29
eISSN - 1099-0542
pISSN - 1061-3773
DOI - 10.1002/cae.22377
Subject(s) - robot , workspace , terrain , computer science , simulation , kinematics , simulation software , software , motion (physics) , human–computer interaction , artificial intelligence , ecology , physics , classical mechanics , biology , programming language
Abstract In this paper, a comprehensive simulation framework is presented for senior undergraduates of robot engineering based on open‐source simulation software, Webots. In our curriculum, a virtual quadruped robot is used to test different theories. First, students should design the physical structure of the robot and select proper drivers according to the requirements on its motion ability. Then, the kinematics and workspace of each leg should be analyzed. To overcome different terrains, terrain recognition, and motion planning methods are presented. Finally, the processes of building a virtual robot and its test environment are introduced. Simulation results demonstrate that it is possible to test different robot techniques in our proposed simulation framework. Teaching practice and feedback from students show their promotion of understanding of robot theories. Their interest in robots are also increased.