A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Abstract
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.
Keywords
Cite
@article{arxiv.2211.09716,
title = {A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground},
author = {Nuno Guedelha and Venus Pasandi and Giuseppe L'Erario and Silvio Traversaro and Daniele Pucci},
journal= {arXiv preprint arXiv:2211.09716},
year = {2022}
}
Comments
To be published in IEEE-IRC 2022 proceedings, 5 pages with 6 figures, equal contribution by authors Nuno Guedelha and Venus Pasandi