Stabilization of Posture of Humanoid Using PID Controller in Gazebo Simulator Using Robot Operating System (ROS)

摘要

This paper presents an ongoing work for developing a simulation setup for testing gait algorithm for a humanoid robot. An open source simulator GAZEBO has been chosen for easy adoption by researchers. A model of humanoid robot has been built in Gazebo. A PID controller has been implemented using Ziegler Nichols tuning technique on the humanoid model for stabilizing the posture on the behalf of implementation of Reinforcement Learning based gait algorithm. The PID controller is written in Robot Operating System (ROS) and has been interfaced with the GAZEBO simulator.