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.

compliant_actuator_plugin.png

Author(s):

Riccardo Mengacci

Grazia Zambella

Giorgio Grioli

Danilo Caporale

Manuel G. Catalano

Antonio Bicchi

 

Affiliation(s):

Centro E. Piaggio

Istituto Italiano di Tecnologia

 

Email(s):

grazia.zambella@phd.unipi.it

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