Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse
As we enter an era dominated by evolving technologies, robotics is often at the forefront, advancing technologies across various industries. The emergence of high-fidelity simulation platforms, such as Nvidia Isaac Sim, has provided researchers and developers with tools to prototype, test and refine...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/177899 |
| _version_ | 1826115703376183296 |
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| author | Ng, Chun Lin |
| author2 | Chen I-Ming |
| author_facet | Chen I-Ming Ng, Chun Lin |
| author_sort | Ng, Chun Lin |
| collection | NTU |
| description | As we enter an era dominated by evolving technologies, robotics is often at the forefront, advancing technologies across various industries. The emergence of high-fidelity simulation platforms, such as Nvidia Isaac Sim, has provided researchers and developers with tools to prototype, test and refine robotics algorithms in virtual environments. This study will explore the use of Nvidia Omniverse Isaac Sim for simulation-to-real transfer of mobile manipulators. It will also examine Isaac Sim's capabilities and determine its suitability as a complete simulation package for robotics. By utilising Isaac Sim alongside a real robot, this study hopes to demonstrate the capability for the sim-to-real transfer of Isaac Sim. |
| first_indexed | 2024-10-01T03:59:30Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/177899 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:59:30Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1778992024-06-08T16:51:26Z Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse Ng, Chun Lin Chen I-Ming School of Mechanical and Aerospace Engineering MICHEN@ntu.edu.sg Engineering As we enter an era dominated by evolving technologies, robotics is often at the forefront, advancing technologies across various industries. The emergence of high-fidelity simulation platforms, such as Nvidia Isaac Sim, has provided researchers and developers with tools to prototype, test and refine robotics algorithms in virtual environments. This study will explore the use of Nvidia Omniverse Isaac Sim for simulation-to-real transfer of mobile manipulators. It will also examine Isaac Sim's capabilities and determine its suitability as a complete simulation package for robotics. By utilising Isaac Sim alongside a real robot, this study hopes to demonstrate the capability for the sim-to-real transfer of Isaac Sim. Bachelor's degree 2024-06-03T08:22:23Z 2024-06-03T08:22:23Z 2024 Final Year Project (FYP) Ng, C. L. (2024). Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/177899 https://hdl.handle.net/10356/177899 en C023 application/pdf Nanyang Technological University |
| spellingShingle | Engineering Ng, Chun Lin Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title | Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title_full | Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title_fullStr | Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title_full_unstemmed | Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title_short | Simulation-to-real transfer of mobile manipulator control using NVIDIA Omniverse |
| title_sort | simulation to real transfer of mobile manipulator control using nvidia omniverse |
| topic | Engineering |
| url | https://hdl.handle.net/10356/177899 |
| work_keys_str_mv | AT ngchunlin simulationtorealtransferofmobilemanipulatorcontrolusingnvidiaomniverse |