The current 3d dynamic simulators with the ability to efficiently simulate robots in complicated indoor and outdoor scenarios like Gazebo have shortcomings like inadequate physics engine, unrealistic force measurements and poor real time factor. This project aims to develop a ROS- and Unity-based simulation of a mobile manipulator robot performing various nursing assistance tasks in a simulation environment. The simulation robot modal, tasks and scenarios are designed to evaluate the capability of tele-nursing interfaces to control the nursing robot for dexterous navigation, manipulation, loco-manipulation and physical human-robot interaction. Through developing and testing robot models like Double3, Gopher, Gopher Presence, Freight base and Kinova Robotic Arm; sensor packages like Laser scan and RGB-D Camera; and ros publisher and subscriber packages, we deduce that simulations in Unity are more detailed and closer to reality than the simulations in Gazebo.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Gandhi, Kushal Kamleshbhai

Subject

• Community
• Industry
• Health
• Learning

Publisher

• Worcester Polytechnic Institute

Identifier

• 67456
• E-project-050222-232148

Advisor

• Li, Jane

Year

• 2022

Sponsor

• Hiro Labs WPI

Date created

• 2022-05-02

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright