A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground

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

doi:10.1109/irc55401.2022.00015

Cited by 1 publication

(4 citation statements)

References 6 publications

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“…Simulink Functions allow replacing the former bindings with programmatic calls to custom, self-contained Simulink blocks, like the WBT (Whole-Body Toolbox) blocks which implement a C++ abstraction layer wrapping the iDynTree library through the BlockFactory framework [7]. The WBT blocks are code generation ready, allowing a significant execution speed improvement [8] , while keeping a compact and flexible implementation of complex algorithms, and a flexible analysis capability as it allows users to use Simulink's rapid prototyping and visual data analysis abilities.…”

Section: Simulink Function Blockmentioning

confidence: 99%

“…Another example, depicted in Table 1, illustrating how the execution of multiple intermediate MEX functions is replaced by a single Simulink Function call, reducing significantly the processing time [8].…”

Section: Integrating a Simulink Function Example: Simfunc Qpoasesmentioning

confidence: 99%

“…We achieved that goal by using object-oriented MATLAB features, like classes, and MEX-based bindings to C++ dynamics algorithms in the iDynTree external library. This approach turned to be very costly for the execution speed performance, as shown in the MATLAB/Simulink profiling done in our previous related work [8]. We tackled the problem by dropping pure bindings, which allowed code generation and replacing them with programmatic calls to native or custom Block Factory based Simulink blocks.…”

Section: Orcidmentioning

confidence: 99%

“…This paper presents the theoretical background and implementation details of the proposed simulator. Instead, the validation of various features of proposed simulator as well as its performance is discussed in our previous related work [8]. All results shall be made available on GitHub a .…”

Section: Introductionmentioning

confidence: 99%

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

Guedelha,

Pasandi,

L’Erario

et al. 2024

Int. J. Semantic Computing

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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.

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Section: Simulink Function Blockmentioning

confidence: 99%

Section: Integrating a Simulink Function Example: Simfunc Qpoasesmentioning

confidence: 99%

Section: Orcidmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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