Does gazebo simulate modular robots ?

Hello every one

I am new on robotics and I am searching for a simulator which can simulate a modular robot. I am wondering if Gazebo can simulate the reconfiguration and the docking between modules ?

thanks.

Asked by djou07 on 2014-09-17 04:52:16 UTC

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Answers

Sure. You can dynamically create and destroy and joints. You would have to write a plugin to achieve this behaviour.

Asked by nkoenig on 2014-09-17 13:32:43 UTC

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Thanks for your respond,

I mean, is it easy to write th plugins ? I just installed gazebo and im reading the tutorials. The simulation I want to make is about a co-evolution of brain and body of a modular robot.

Asked by djou07 on 2014-09-17 14:20:23 UTC

djou07 - how it went? I am planning on doing something similar. Did you have any success with your project?

Asked by Kanter666 on 2017-07-04 15:50:20 UTC

yes i did succeed on simulating modular robots, you only have to take into account the number of modules, because the more the number increases the more the simulation go slow. Also, you have to find how to attach modules, because there was a problem of inter-penetration between neighbor modules, which is irrealistic (not sure if the problem if fixed). I didn't try to do the auto reconfiguration though...

Asked by djou07 on 2017-07-13 04:11:40 UTC