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Does gazebo simulate modular robots ?

asked 2014-09-17 04:52:16 -0500

djou07 gravatar image

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 ?


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answered 2014-09-17 13:32:43 -0500

nkoenig gravatar image

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

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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.

djou07 gravatar imagedjou07 ( 2014-09-17 14:20:23 -0500 )edit

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

Kanter666 gravatar imageKanter666 ( 2017-07-04 15:50:20 -0500 )edit

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...

djou07 gravatar imagedjou07 ( 2017-07-13 04:11:40 -0500 )edit

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Asked: 2014-09-17 04:52:16 -0500

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Last updated: Sep 17 '14