odeFrank

ODEFrank is a small piece of code used to simulate assembly tasks in Matlab with the modular humanoid VSA torso. The code has been used to simulate a bimanual peg in hole task.


The simulation environment is composed of a Matlab part, where motors and transmission were modeled, and an ODE (Open Dynamics Engine) part, used for collision detection and rigid body dynamics simulation.
The software has been tested under Windows and Linux, and is licensed under the Simplified BSD License.

Author(s):

Alessio Rocchi

Leonardo Balletti

 

Affiliation(s):

Centro E. Piaggio

 

Email(s):

rocchi.alessio@gmail.com

Downloads
Sample code

License: license type

© 2014 Natural Machine Motion Initiative