Development and Validation of Robust Simulation Environment for ROBOTIS OP3 Humanoid Robot With MuJoCo
Published in Proquest, 2024
Recommended citation: Rajagopalan, Govind Aadithya. New York University Tandon School of Engineering ProQuest Dissertations & Theses, 2024. 31297576 https://www.proquest.com/docview/3055611107
The work focuses on development and validation of a simulation platform for Robotis OP3 robot with MuJoCo. The work includes frequency syncing for controller that work in a non-factor frequency of the simulator. Additionally, to make the simulator compatible with sparse trajectory generation framework, we rediscritize the trajorctory to obtain trajectory points required for the simulator’s working frequency.
Recommended citation: Rajagopalan, Govind Aadithya. New York University Tandon School of Engineering ProQuest Dissertations & Theses, 2024. 31297576.