TY - GEN
T1 - ClimbLab
T2 - 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021
AU - Uno, Kentaro
AU - Ribeiro, Warley F.R.
AU - Koizumi, Yusuke
AU - Haji, Keigo
AU - Kurihara, Koki
AU - Jones, William
AU - Yoshida, Kazuya
N1 - Funding Information:
supported by JSPS KAKENHI Grant Number
Funding Information:
This work is supported by JSPS KAKENHI Grant Number 19J20685.
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Climbing robots
KW - Legged robots
KW - Open-sourced simulator
UR - http://www.scopus.com/inward/record.url?scp=85115242015&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85115242015&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-86294-7_20
DO - 10.1007/978-3-030-86294-7_20
M3 - Conference contribution
AN - SCOPUS:85115242015
SN - 9783030862930
T3 - Lecture Notes in Networks and Systems
SP - 229
EP - 241
BT - Robotics for Sustainable Future, CLAWAR 2021
A2 - Chugo, Daisuke
A2 - Tokhi, Mohammad Osman
A2 - Silva, Manuel F.
A2 - Nakamura, Taro
A2 - Goher, Khaled
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 30 August 2021 through 1 September 2021
ER -