A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
In: International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17; (2024)
Online
report
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function blocks, the presented simulator combines a programmatic and block-based approach, resulting in a flexible design in the sense that different parts, including its physics engine, robot-ground interaction model, and state evolution algorithm are simply accessible and editable. Moreover, through the use of Simulink dynamic mask blocks, the proposed simulator supports robot models integrating open-chain and closed-chain kinematics with any desired number of links interacting with the ground. This simulator can also integrate second-order actuator dynamics. Furthermore, the simulator benefits from a one-line installation and an easy-to-use Simulink interface.
Comment: 17 pages, 4 figures, 1 table, equal contribution by authors Nuno Guedelha and Venus Pasandi. arXiv admin note: substantial text overlap with arXiv:2211.09716
| Titel: |
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
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| Autor/in / Beteiligte Person: | Guedelha, Nuno ; Pasandi, Venus ; L'Erario, Giuseppe ; Traversaro, Silvio ; Pucci, Daniele |
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| Quelle: | International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17; (2024) |
| Veröffentlichung: | 2024 |
| Medientyp: | report |
| DOI: | 10.1142/S1793351X24300036 |
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