A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
2022 Sixth IEEE International Conference on Robotic Computing (IRC)(2022)
摘要
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink 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 simulation framework supports robot models integrating open-chain and closed-chain kinematics with any desired number of links interacting with the ground. The simulator can also integrate second-order actuator dynamics. Furthermore, the simulator benefits from a one-line installation and an easy-to-use Simulink interface.
更多查看译文
关键词
robotic simulator,open-source,MATLAB/Simulink,floating-base robots
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要