接地を伴う浮遊ベースロボットのための柔軟なMATLAB/Simulinkシミュレータ
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
MATLAB/Simulink上でマニピュレータや浮遊ベースロボットの剛体多体系をシミュレーションするオープンソースツールを開発し、物理エンジンや接地モデルを柔軟に編集可能にした。
著者: Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
分類: cs.RO
原文アブストラクト
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.
