Simulation for senior undergraduate education of robot engineering based on Webots

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.

Construction of a competition practice system for robotics engineering based on a competency model

“…With the development of robot technology, robots are extensively used in production and daily life [3,36]. Therefore, many colleges and universities have introduced robotics engineering for undergraduates to cultivate their innovative talents in the field of robotics [40]. Robotics engineering has the characteristics of multidisciplinary intersection and clear application orientation [17].…”

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

“…(Lin et al , 2021). Rostami et al (2019) added adjustment factors to the traditional APF function to bypass obstacles to overcome local minimum and target unreachable problems; Yao et al (2020) solved complex environmental problems from the perspective of reinforcement learning, combining black hole APF and reinforcement learning to solve the local stable point problem, but oscillation phenomenon will occur in the process of path planning; Zhao et al (2020) proposed the domain to solve the local stable point problem of the multitarget point task, and escape from the local minimum through the domain field when the robot falls into the local minimum point, but does not consider whether the robot can reach the target point under the complex environment (Yue et al , 2021; Zha and Chen, 2019). Because the slope terrain is time-varying, it is difficult for the legged robot to move stably in these terrains in the form of fixed gait.…”