A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866909201138188288 |
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| author | Guedelha, Nuno Pasandi, Venus L'Erario, Giuseppe Traversaro, Silvio Pucci, Daniele |
| author_facet | Guedelha, Nuno Pasandi, Venus L'Erario, Giuseppe Traversaro, Silvio Pucci, Daniele |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_08092 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details Guedelha, Nuno Pasandi, Venus L'Erario, Giuseppe Traversaro, Silvio Pucci, Daniele Robotics 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. |
| title | A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.08092 |