Thesis Archive
3D Humanoid Robot Simulation And Modelling Using Open Dynamics Engine (2007)
Ralph Lawrence S. Amparo, Thomas William S. Ang, Lenard A. De Leon and Safiro F.Quijano,advised by Engr. Melvin K. Cabatuan
Abstract:
-The thesis entitled “3D Humanoid robot simulation and modeling using ODE” creates a virtual simulation of a humanoid robot that is capable of bipedal walking, turning left and right, moving individual joints in a virtual environment with simulated physics. The value of the motor angles of the virtual humanoid robot are passed to the AX-12 motors of its physical humanoid robot (BIOLOID) counterpart via serial communication, thus making the virtual bioloid execute individual motor movements, walking and turning gaits at the same time. The program mimic real life physics, forces, bodies, and servo motors by translating them into functions of codes with the help of the Open Dynamics Engine, an open source physics engine integrated with the drafstuffs library, a graphics rendering library that is used in rendering the ODE environment and the bodies within that virtual environment, using CodeBlocks IDE. The researchers created a GUI using resEdit which enables the user to interact with virtual bioloid. The system aims to prove that it is possible to model and simulate a walking humanoid robot using the ODE physics library.
Correspondence:
Engr. Melvin K. Cabatuan
[email protected]