Implementation and Benchmarking of a Whegs Robot in the USARSim Environment

Implementation and Benchmarking of a Whegs Robot in the USARSim Environment

Bibliographic Details
Main Author: Taylor, Brian Kyle
Language:English
Published: Case Western Reserve University School of Graduate Studies / OhioLINK 2008
Subjects:
Mechanical Engineering
USARSim
Biologically Inspired Robots
Whegs
Urban Search and Rescue
Simulation
Benchmarking
Validation
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-case12156202842021-08-03T05:32:55Z Implementation and Benchmarking of a Whegs Robot in the USARSim Environment Taylor, Brian Kyle Mechanical Engineering USARSim Biologically Inspired Robots Whegs Urban Search and Rescue Simulation Benchmarking Validation 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. 2008-07-09 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284 http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Mechanical Engineering
USARSim
Biologically Inspired Robots
Whegs
Urban Search and Rescue
Simulation
Benchmarking
Validation
spellingShingle Mechanical Engineering
USARSim
Biologically Inspired Robots
Whegs
Urban Search and Rescue
Simulation
Benchmarking
Validation
Taylor, Brian Kyle
Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
author Taylor, Brian Kyle
author_facet Taylor, Brian Kyle
author_sort Taylor, Brian Kyle
title Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
title_short Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
title_full Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
title_fullStr Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
title_full_unstemmed Implementation and Benchmarking of a Whegs Robot in the USARSim Environment
title_sort implementation and benchmarking of a whegs robot in the usarsim environment
publisher Case Western Reserve University School of Graduate Studies / OhioLINK
publishDate 2008
url http://rave.ohiolink.edu/etdc/view?acc_num=case1215620284
work_keys_str_mv AT taylorbriankyle implementationandbenchmarkingofawhegsrobotintheusarsimenvironment
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