Alexandra Dobrokvashina, Roman Lavrenov, Yang Bai, M. Svinin, E. Magid
{"title":"Sensors modelling for Servosila Engineer crawler robot in Webots simulator","authors":"Alexandra Dobrokvashina, Roman Lavrenov, Yang Bai, M. Svinin, E. Magid","doi":"10.1109/MWENT55238.2022.9802400","DOIUrl":null,"url":null,"abstract":"Simulations became a convenient, easy and safe way to interact with a robot in a virtual world in order to reproduce complex tasks and environments, preliminary evaluate new concepts and algorithms instead of directly building complicated testing field constructions in real world. Yet, a simulation requires an adequate model of a robot that corresponds well to its hardware original. This paper presents an improved Webots simulation model of the Russian crawler-type robot Servosila Engineer. We extended a previously constructed model with sensors of the real robot and added connection to the Robot Operating System (ROS), while ROS/Webots connection was also improved for a greater convenience.","PeriodicalId":218866,"journal":{"name":"2022 Moscow Workshop on Electronic and Networking Technologies (MWENT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 Moscow Workshop on Electronic and Networking Technologies (MWENT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MWENT55238.2022.9802400","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
Simulations became a convenient, easy and safe way to interact with a robot in a virtual world in order to reproduce complex tasks and environments, preliminary evaluate new concepts and algorithms instead of directly building complicated testing field constructions in real world. Yet, a simulation requires an adequate model of a robot that corresponds well to its hardware original. This paper presents an improved Webots simulation model of the Russian crawler-type robot Servosila Engineer. We extended a previously constructed model with sensors of the real robot and added connection to the Robot Operating System (ROS), while ROS/Webots connection was also improved for a greater convenience.
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