ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics for Sustainable Future, CLAWAR 2021
編集者Daisuke Chugo, Mohammad Osman Tokhi, Manuel F. Silva, Taro Nakamura, Khaled Goher
出版社Springer Science and Business Media Deutschland GmbH
ページ229-241
ページ数13
ISBN(印刷版)9783030862930
DOI
出版ステータスPublished - 2022
イベント24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 - Virtual, Online
継続期間: 2021 8 302021 9 1

出版物シリーズ

名前Lecture Notes in Networks and Systems
324 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

フィンガープリント

「ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル