发表机构
Tohoku University; VisionSpace Technologies GmbH（东北大学; VisionSpace技术有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出了ClimbLab，一个开源的MATLAB仿真平台，用于腿式攀爬机器人的设计与分析，支持任意环境下的行走与攀爬模拟，并展示了四足机器人攀爬示例。
AI 中文摘要
本文介绍了一个开源的MATLAB仿真与分析平台，专门用于腿式攀爬机器人。该仿真器能够将任何带腿的机器人系统设计为具有浮动基座的铰接多体系统，并模拟其在任意环境中行走和攀爬。主要的环境可变参数包括倾斜度、重力和地面刚度，任何点云都可以作为地形图安装。此外，仿真器采用刚体动力学引擎。本文首先描述了仿真器的结构和计算流程，然后展示了代表性的仿真示例，其中四足机器人被假设抓握在墙壁上或在陡坡上攀爬。
英文摘要
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.
CommentsAuthor's version of a manuscript in the proceedings of CLAWAR 2021. The final published version is available at: https://doi.org/10.1007/978-3-030-86294-7_20
