A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
<|reference_start|>A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details: 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.<|reference_end|>
@article{guedelha2024a,
    title={A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems
  in Contact with the Ground: Theoretical background and Implementation Details},
    author={Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro,
  Daniele Pucci},
    journal={International Journal of Semantic Computing 0 Ahead of Print
  (2024) 1-17},
    year={2024},
    doi={10.1142/S1793351X24300036},
    archivePrefix={arXiv},
    eprint={2405.08092},
    primaryClass={cs.RO}
}