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Compliant Actuator Plugin
An Open-Source ROS-Gazebo Toolbox for Simulating Robots With Compliant Actuators.
The toolbox consists of two ROS-Gazebo modules: a plugin that implements the custom compliant characteristics of a given actuator and simulates the internal motor dynamics, and a Robotic Operation System (ROS) manager node used to organize and simplify the overall toolbox usage.
Author(s):
Riccardo Mengacci
Grazia Zambella
Giorgio Grioli
Danilo Caporale
Manuel G. Catalano
Antonio Bicchi
Affiliation(s):
Istituto Italiano di Tecnologia
Email(s):
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