An Open-Source ROS-Gazebo Toolbox for Simulating Robots With Compliant Actuators.

ABSTRACT: To enable the design of planning and control strategies in simulated environments before their direct application to the real robot, exploiting the Sim2Real practice, powerful and realistic dynamic simulation tools have been proposed, e.g., the ROS-Gazebo framework. However, the majority of such simulators do not account for some of the properties of recently developed advanced systems, e.g., dynamic elastic behaviors shown by all those robots that purposely incorporate compliant elements into their actuators, the so-called Articulated Soft Robots ASRs. This paper presents an open-source ROS-Gazebo toolbox for simulating ASRs equipped with the aforementioned types of compliant actuators. To achieve this result, the toolbox consists of two ROS-Gazebo modules: a plugin that implements

SUBMITTER: Mengacci R 

PROVIDER: S-EPMC8385715 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature