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Computer Science > Robotics

arXiv:2405.08092 (cs)
[Submitted on 13 May 2024]

Title:A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details

Authors:Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
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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.
Comments: 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
Subjects: Robotics (cs.RO)
Cite as: arXiv:2405.08092 [cs.RO]
  (or arXiv:2405.08092v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2405.08092
Journal reference: International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17
Related DOI: https://doi.org/10.1142/S1793351X24300036

Submission history

From: Nuno Guedelha [view email]
[v1] Mon, 13 May 2024 18:15:50 UTC (459 KB)
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