ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

Abstract:This paper presents an open-sourced MATLAB simulation and analysis platform dedicated to legged climbing robots. This simulator enables the design of any limbed robotic system as an articulated multi-body with a floating base and simulates it walking and climbing in an arbitrary environment. The main variable environmental parameters are inclination, gravity, and ground stiffness, and any point cloud can be installed as the terrain map. Furthermore, the simulator employs a rigid body dynamics engine. This paper first describes the simulator structure, and the computational flow and next presents the representative simulation examples where quadrupedal robots assumed gripping on the wall or climbing on the steep slope.

Author's version of a manuscript in the proceedings of CLAWAR 2021. The final published version is available at: this https URL

Robotics (cs.RO)

arXiv:2610.09315 [cs.RO]

(or arXiv:2610.09315v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.09315 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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