Barelang FC: An Adult-Size Humanoid Robot Simulation Model on The ROS and Gazebo

Investigations in the domain of humanoid robots entail significant expenses. This condition is determined by the auxiliary components and the intricacy of the manufacturing of the parts, which incurs substantial expenses. As the robot’s size increases, so does the corresponding construction expense. Aside from the exorbitant expense, the maintenance and repair procedures for the robot pose a separate issue. This problem poses a significant challenge for aspiring researchers seeking to delve into the realm of humanoid robots. Various options for creating affordable humanoid robots have been suggested using 3D-printed materials. Nevertheless, this continues to challenge researchers who lack proficiency in the mechanical intricacies. Researchers may sometimes lack the specialized expertise necessary to produce and assemble robots. This study suggests the development of a simulator for a humanoid robot intended for research. The simulation is based on the Barelang FC adult-size humanoid robot, which has a height of 131 cm. The robot is constructed using 30 actuators. Furthermore, the robot is outfitted with auxiliary sensors, including stereo cameras, IMU, and position sensors at each joint. The findings from the development of the Barelang FC simulators indicate that this simulation model outperforms the Robotis OP3 and Thormang3 simulators regarding real-time factors. The Barelang FC robot has a real-time factor of 0.9 in an upright position and 0.87 when lying down. The supine and standing robot pose exhibit realtime factor performances below 0.75 for the other two robots. These findings demonstrate that the Barelang FC simulator effectively replicates the real-time performance of robots, a crucial aspect of robot modeling.