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

Riccardo Mengacci1, Grazia Zambella1, Giorgio Grioli2

  • 1Research Center "Enrico Piaggio", University of Pisa, Pisa, Italy.

Frontiers in Robotics and AI
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Summary

This study introduces an open-source ROS-Gazebo toolbox for simulating Articulated Soft Robots (ASRs) with compliant actuators. This tool enhances Sim2Real practice by enabling realistic simulations for developing and testing robot control strategies.

Keywords:
ROS-Gazebo simulatorsSim2Real methodsarticulated soft robotscompliant actuatorsdigital twins

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Area of Science:

  • Robotics
  • Control Systems
  • Soft Robotics

Background:

  • Current ROS-Gazebo simulators lack support for the dynamic elastic behaviors of Articulated Soft Robots (ASRs).
  • Advanced robots increasingly incorporate compliant elements in actuators, necessitating specialized simulation tools.

Purpose of the Study:

  • To present an open-source ROS-Gazebo toolbox for simulating Articulated Soft Robots (ASRs) with compliant actuators.
  • To facilitate the Sim2Real practice by enabling realistic simulations for planning and control strategy design.

Main Methods:

  • Developed a ROS-Gazebo toolbox with two modules: a plugin for custom compliant actuator dynamics and a ROS manager node.
  • Implemented simulations of various compliant joint structures and ASRs interacting with environments.
  • Validated the toolbox through simulations of different compliant actuators and experiments on two ASRs.

Main Results:

  • The toolbox accurately simulates the physical behavior of real ASR systems.
  • Simulated results show high reliability when compared to real hardware performance.
  • Demonstrated effective Sim2Real control design by learning a policy in simulation and applying it to a real system.

Conclusions:

  • The proposed toolbox provides a versatile and reliable platform for simulating Articulated Soft Robots (ASRs).
  • It effectively supports the Sim2Real practice, enabling the development of robust control policies for compliant robots.
  • This open-source tool advances the simulation capabilities for a new generation of elastic robotic systems.