- Description
-
Details
Real-time simulation of the KUKA youBot in Webots. The robot model contains principally:
- all the DOF of the robot (4 wheels + 5 servos for the arm + gripper)
- an accurate model of the physics (masses, torques, collisions)
- realistic omnidirectional wheels (modeled with subwheels exactly like in reality)
- the possibility to be easily extended by cameras, Hokuyo or Kinect sensors
- the possibility to be easily modified (2 arms model or only-plate model)
- the possibility to be controlled from the Webots API (C/C++/Java/Python/Matlab/URBI) or from ROS.
A video of the simulation model is available here.
Installation
This robot simulation model is included in the latest version of Webots which can be downloaded from http://www.cyberbotics.com/download .
In order to be able to create your own control programs for the simulated robot, you will need to get a Webots license, either a free 30 days trial license or a regular EDU or PRO license. All these licenses are available from Cyberbotics's web site at http://www.cyberbotics.com.
Usage
The free version of Webots allows you to run the simulation by opening the world file located in $(WEBOTS_HOME)/projects/robots/youbot/worlds/youbot.wbt.
The controller files used for these simulation are located in $(WEBOTS_HOME)/projects/robots/youBot/controllers/youBot. The main() and automatic_behavior()functions in the file youBot.c show how to initialize the robot and control all of its parts, i.e. platform, arm and gripper.Support
- get help
- mail to users@youbot-community.org (or click here to subscribe)