Simulation framework of modular robots using EasyDyn
نویسنده
چکیده
This paper presents a multibody simulation framework developed to study the locomotion control of modular robots. The resulting model aims at featuring the main parts that characterize actual modular robots including kinematics, inertia properties, actuators and the associated controllers. As the framework is dedicated to modular robots, we spend some time to describe its core element, the module, and the extend of its related model. We then show how we exploited this modular approach to quickly build a modular robot multibody model. Finally, we illustrate the application of the framework on two configurations : a caterpillar and a 6-legged robot. Keywords— Multibody simulation, modular robots
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