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一款用于与地面接触的机器人浮基系统的灵活MATLAB/Simulink仿真器：理论背景与实现细节

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details

Istituto Italiano di Tecnologia（意大利技术研究院）；Artificial and Mechanical Intelligence（人工与机械智能中心）

Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci

备注：
17 pages, 4 figures, 1 table, equal contribution by authors Nuno Guedelha and Venus Pasandi. arXiv admin note: substantial text overlap with arXiv:2211.09716
发表信息：
International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17
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AI总结：

本研究提出一款开源MATLAB/Simulink刚体铰接系统物理仿真器，结合编程与模块式设计实现高可编辑性，支持多类机器人模型与执行器动力学，且安装使用便捷。

摘要：

本文提出了一款面向刚体铰接系统（包括机械臂和浮基机器人）的开源MATLAB/Simulink物理仿真器。借助MATLAB系统类、Simulink功能模块等MATLAB/Simulink特性，该仿真器结合了编程式与基于模块的方法，具备灵活的设计：其物理引擎、机器人-地面交互模型、状态演化算法等不同部分都易于访问和编辑。此外，通过使用Simulink动态掩码模块，所提出的仿真器支持集成开链和闭链运动学的机器人模型，可适配任意数量与地面接触的连杆。该仿真器还可集成二阶执行器动力学，同时具备一键安装和易用的Simulink界面的优势。

英文摘要：

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.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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