Control of a Biped Robot Using the Robot Operating System

2021 ◽

Vol 9 (1) ◽

pp. 43

Author(s):

ADI SUCIPTO ◽

RADEN SANGGAR DEWANTO ◽

DADET PRAMADIHANTO

Keyword(s):

Operating System ◽

Success Rate ◽

Operating Systems ◽

Three Dimensional ◽

Biped Robot ◽

Sensor Data ◽

Average Error ◽

Robot Operating System ◽

Robot Technology ◽

The Right

ABSTRAKPengembangan sistem operasi pada bidang robotika telah menjadi fokus utama pada era ini. Salah satu perkembangan sistem operasi pada teknologi robot saat ini adalah Robot Operating System (ROS) dengan RViz. ROS merupakan sistem operasi berbasis library dan beberapa tools untuk mengembangkan suatu program pada robot, sedangkan RViz merupakan visualisasi tiga dimensi yang dapat digunakan untuk memvisualisasikan robot dan data sensor dynamixel. Pada Penelitian kali ini, peneliti membuat simulasi beberapa gerakan yang dilakukan pada RViz dan kemudian diimplementasikan pada robot. Tingkat keberhasilan dari perencanaan gerakan ini memiliki rata rata error sebesar 1.8%. Gerakan condong ke kiri memiliki rata-rata error sebesar 0.83%. Gerakan condong ke kanan memiliki rata-rata error sebesar 0.84%. Gerakan mengangkat satu kaki memiliki rata-rata error sebesar 1.71%. Gerakan kaki kanan ke depan memiliki rata-rata error sebesar 3.83%.Kata kunci: Robot Berkaki Dua, Robot Operating System (ROS), RViz (rosvisualization), Dynamixel Controller, Data Sensor Dynamixel. ABSTRACTThe development of operating systems in the field of robotics has become the main focus of this era. One of the operating system developments in robot technology today is the Robot Operating System (ROS) with RViz. ROS is a library-based operating system and several tools for developing a program on robots, while RVIZ is a three-dimensional visualization that can be used to visualize robots and dynamixel sensor data. In this study, researchers made a simulation of some of the movements carried out on RViz and then implemented on robots. The success rate of planning this movement has an average error of 1.8%. Leaning to the left has an average error of 0.83%. Leaning to the right has an average error of 0.84%. One leg lift has an average error of 1.71%. The movement of the right foot forward has an average error of 3.83%.Keywords: Biped Robot, Robot Operating System (ROS), RViz (Ros-Visualization), Dynamixel Controller, Sensor Dynamixel Data.

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F1_Tenth_Course_Report_Group_C

10.31224/osf.io/68bvh ◽

2018 ◽

Author(s):

Yi Chen ◽

Sagar Manglani ◽

Roberto Merco ◽

Drew Bolduc

Keyword(s):

Operating System ◽

Autonomous Driving ◽

Software Tools ◽

Simulation Environment ◽

Robot Operating System ◽

Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

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A Robot Operating System Framework for Secure UAV Communications

Sensors ◽

10.3390/s21041369 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1369

Author(s):

Hyojun Lee ◽

Jiyoung Yoon ◽

Min-Seong Jang ◽

Kyung-Joon Park

Keyword(s):

Operating System ◽

Unmanned Aerial Vehicles ◽

Ground Control ◽

Unmanned Aerial System ◽

Security Framework ◽

Security Vulnerabilities ◽

Robot Operating System ◽

Security Issues ◽

Aerial Vehicles ◽

Ground Control Station

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

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