Abstract-Bipedal robot-mobile robot in general-is important for many purposes in various fields including engineering field. For this robot type, it is important to understand the robot dynamic characteristics. The characteristics are walking behavior, exploration behavior, human-following behavior, aversive behavior, and robot stability. This study focuses to understand these characteristics by means of Virtual Robot Experimentation Platform (V-REP). The results are also compared to those results obtained from the actual experiments of literatures. The results are of the following. The walking behavior strongly depends on the height and size of the robot step. On the exploration behavior, increasing the wheel mass reduces the variance in the traveled distance but increases the deviation on the path. On the human-following behavior, the faster the person walks, the harder the robot follows. The aversive behavior strongly depends on the ability of the motor to generate acceleration. The robot reaches its maximum stability with the location of the center of mass at 30.0 mm. Finally, the differences between the simulation results and those of experiments are relatively small.
The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV) developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.
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