Design of Single Legged Hopper Robot in Gazebo

摘要

Abstract: Robotics is one of the core areas where the bioinspiration is frequently used to design various engineered morphologies to develop novel behavioral controllers comparable to human being and animals. Research on legged robots has been going on for over a century. The reason behind such sustained interest in legged robots is due to the fact that most of the earth’s land surface is inaccessible to wheeled or tracked systems. Legged animals can, however, be found everywhere. Thus, mankind has been fascinated with the idea of a mobile legged robot that can handle difficult terrain and be useful in the fields of transportation, forestry, agriculture, fire, fighting, hazardous areas, defense (carrying weapons to soldiers, de-mining), police purposes, assistive devices for walking, entertainment (toy production), robotic pets, and ocean and space exploration. Our project is based on one such example, single legged hopper robot a legged locomotive inspired by the jumping mechanism of click beetles. It aims to create a single legged hopper robot in Gazebo. A simulation tool that offers the ability to accurately, and efficiently, simulate populations of robots in complex indoor and outdoor environments. The Robot Operating System (ROS) works best in the LINUX OS, is the software of version Melodic + Gazebo 9, is utilized in the project.