The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Humanoid Robot HUMIC and Reinforcement Learning-based Robot Behavior Intelligence using Gazebo Simulator

휴머노이드 로봇 HUMIC 개발 및 Gazebo 시뮬레이터를 이용한 강화학습 기반 로봇 행동 지능 연구

  • Kim, Young-Gi (Dept. of Computer Science and Engineering, Seoul National University of Science and Technology) ;
  • Han, Ji-Hyeong (Dept. of Computer Science and Engineering, Seoul National University of Science and Technology)
  • Received : 2021.03.23
  • Accepted : 2021.05.19
  • Published : 2021.08.31
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Abstract

To verify performance or conduct experiments using actual robots, a lot of costs are needed such as robot hardware, experimental space, and time. Therefore, a simulation environment is an essential tool in robotics research. In this paper, we develop the HUMIC simulator using ROS and Gazebo. HUMIC is a humanoid robot, which is developed by HCIR Lab., for human-robot interaction and an upper body of HUMIC is similar to humans with a head, body, waist, arms, and hands. The Gazebo is an open-source three-dimensional robot simulator that provides the ability to simulate robots accurately and efficiently along with simulated indoor and outdoor environments. We develop a GUI for users to easily simulate and manipulate the HUMIC simulator. Moreover, we open the developed HUMIC simulator and GUI for other robotics researchers to use. We test the developed HUMIC simulator for object detection and reinforcement learning-based navigation tasks successfully. As a further study, we plan to develop robot behavior intelligence based on reinforcement learning algorithms using the developed simulator, and then apply it to the real robot.

Keywords

Acknowledgement

This work was supported by a grant from the National Research Foundation of Korea (NRF) funded by the Korean government (MSIT) (No. 2018R1C1B6007230)

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