ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

Kentaro Uno, Warley F.R. Ribeiro, Yusuke Koizumi, Keigo Haji, Koki Kurihara, William Jones, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an open-sourced MATLAB simulation and analysis platform dedicated to legged climbing robots. This simulator enables the design of any limbed robotic system as an articulated multi-body with a floating base and simulates it walking and climbing in an arbitrary environment. The main variable environmental parameters are inclination, gravity, and ground stiffness, and any point cloud can be installed as the terrain map. Furthermore, the simulator employs a rigid body dynamics engine. This paper first describes the simulator structure, and the computational flow and next presents the representative simulation examples where quadrupedal robots assumed gripping on the wall or climbing on the steep slope.

Original languageEnglish
Title of host publicationRobotics for Sustainable Future, CLAWAR 2021
EditorsDaisuke Chugo, Mohammad Osman Tokhi, Manuel F. Silva, Taro Nakamura, Khaled Goher
PublisherSpringer Science and Business Media Deutschland GmbH
Pages229-241
Number of pages13
ISBN (Print)9783030862930
DOIs
Publication statusPublished - 2022
Event24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 - Virtual, Online
Duration: 2021 Aug 302021 Sep 1

Publication series

NameLecture Notes in Networks and Systems
Volume324 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021
CityVirtual, Online
Period21/8/3021/9/1

Keywords

  • Climbing robots
  • Legged robots
  • Open-sourced simulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications

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