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

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

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 sim...

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Bibliographic Details
Main Authors: Riccardo Mengacci, Grazia Zambella, Giorgio Grioli, Danilo Caporale, Manuel G. Catalano, Antonio Bicchi
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-08-01
Series:Frontiers in Robotics and AI
Subjects:
articulated soft robots
ROS-Gazebo simulators
compliant actuators
Sim2Real methods
digital twins
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.713083/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.713083/full

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