ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

Autor:	Warley F. R. Ribeiro, Koki Kurihara, Keigo Haji, Kazuya Yoshida, Yusuke Koizumi, Kentaro Uno, William Jones
Rok vydání:	2021
Předmět:	Computer science business.industry Point cloud Base (geometry) Stiffness Robotics Terrain Rigid body dynamics Computer Science::Robotics Climbing medicine Robot Artificial intelligence medicine.symptom business Simulation ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	Robotics for Sustainable Future ISBN: 9783030862930 CLAWAR
DOI:	10.1007/978-3-030-86294-7_20
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::5a2c563ddbc8f62a8864ab8eb7ac0fc5 https://doi.org/10.1007/978-3-030-86294-7_20 Zobrazit plný text záznamu