3D humanoid robot simulation and modeling using ODE

The thesis entitled 23D Humanoid robot simulation and modeling using ODE3 creates a virtual simulation of a humanoid robot that is capable of bipedal walking, turning left and right, moving individual joints in a virtual environment with simulated physics. The value of the motor angles of the virtual humanoid robot are passed to the AX-12 motors of its physical humanoid robot (BIOLOID) counterpart via serial communication, thus making the virtual and physical bioloid execute individual motor movements, walking and turning gaits at the same time. The program mimics real life physics, forces, bodies and servo motors by translating them into functions of codes with the help of the Open Dynamics Engine, an open source physics engine integrated with the drawstuffs library, a graphics rendering library that is used in rendering the ODE environment and the bodies which that virtual environment, using the CodeBlocks IDE. The researchers created a GUI using resEdit which enables the user to interact with the virtual bioloid. The system aims to prove that it is possible to model and simulate a walking humanoid robot using the ODE physics librar