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- Title
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details.
- Authors
Guedelha, Nuno; Pasandi, Venus; L'Erario, Giuseppe; Traversaro, Silvio; Pucci, Daniele
- Abstract
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.
- Subjects
ROBOTICS; KINEMATICS; ALGORITHMS; ROBOTS; MOBILE robots
- Publication
International Journal of Semantic Computing, 2024, Vol 18, Issue 2, p239
- ISSN
1793-351X
- Publication type
Article
- DOI
10.1142/S1793351X24300036