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Authors: Małgorzata Kameduła ; Navvab Kashiri ; Darwin G. Caldwell and Nikos G. Tsagarakis

Affiliation: Istituto Italiano di Tecnologia, Italy

Keyword(s): Gazebo-ROS Simulators, Legged Robots, Flexible Joint Robots, Series Elastic Actuators, Quadrupeds, Humanoids, Simulation.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Modeling ; Systems Modeling and Simulation

Abstract: Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot design in the past 15 years with the consideration of soft actuation technologies as a mean to power new robotic systems. More specifically, the integration of series elastic actuators (SEAs) into robots modifies significantly the dynamics characteristics of the system while the incorporation of the passive compliance into the actuators is not applied in conventional simulators. This paper introduces a scheme for the implementation of the SEA dynamics on a Gazebo-ROS framework exploited for the simulation of a new centaur-like robot. This approach is based on designing a custom control plugin embodying the passive compliance dynamics so that the controller associated with each joint receives both collocated and non-collocated feedback. A simulation comparison with Matlab validating the performance of the designed control plugin is demonstrated. In the end, a whole-body simulation of the centaur robot driven/controlled by the proposed plugin is presented. (More)

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Paper citation in several formats:
Kameduła, M.; Kashiri, N.; Caldwell, D. and Tsagarakis, N. (2016). A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-198-4; ISSN 2184-2809, SciTePress, pages 485-491. DOI: 10.5220/0006001404850491

@conference{icinco16,
author={Małgorzata Kameduła. and Navvab Kashiri. and Darwin G. Caldwell. and Nikos G. Tsagarakis.},
title={A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2016},
pages={485-491},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006001404850491},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot
SN - 978-989-758-198-4
IS - 2184-2809
AU - Kameduła, M.
AU - Kashiri, N.
AU - Caldwell, D.
AU - Tsagarakis, N.
PY - 2016
SP - 485
EP - 491
DO - 10.5220/0006001404850491
PB - SciTePress