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：理論的背景と実装詳細
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
マニピュレータや浮遊ベースロボットを含む剛体多関節系のためのオープンソースMATLAB/Simulink物理シミュレータを提案し、物理エンジンや接地モデルを編集可能な柔軟設計と使いやすいインターフェースを実現した。
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
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.
