In this paper, a comprehensive simulation framework is presented for senior undergraduates of robot engineering based on open-source simulation software, Webots. In our curriculum, a virtual quadruped robot is used to test different theories. First, students should design the physical structure of the robot and select proper drivers according to the requirements on its motion ability. Then, the kinematics and workspace of each leg should be analyzed. To overcome different terrains, terrain recognition, and motion planning methods are presented. Finally, the processes of building a virtual robot and its test environment are introduced. Simulation results demonstrate that it is possible to test different robot techniques in our proposed simulation framework. Teaching practice and feedback from students show their promotion of understanding of robot theories. Their interest in robots are also increased.

中文翻译：

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基于Webots的机器人工程本科高年级教学仿真

本文提出了一个基于开源仿真软件Webots的机器人工程高年级本科生综合仿真框架。在我们的课程中，虚拟四足机器人用于测试不同的理论。首先，学生应设计机器人的物理结构，并根据其运动能力的要求选择合适的驱动程序。然后，应分析每条腿的运动学和工作空间。为了克服不同的地形，提出了地形识别和运动规划方法。最后介绍了虚拟机器人的构建过程及其测试环境。仿真结果表明，可以在我们提出的仿真框架中测试不同的机器人技术。教学实践和学生反馈显示了他们对机器人理论理解的促进。他们对机器人的兴趣也增加了。