Conference article

Using Modelica for advanced Multi-Body modelling in 3D graphical robotic simulators

Gianluca Bardaro
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy

Luca Bascetta
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy

Francesco Casella
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy

Matteo Matteucci
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy

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Published in: Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Linköping Electronic Conference Proceedings 132:97, p. 887-894

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Published: 2017-07-04

ISBN: 978-91-7685-575-1

ISSN: 1650-3686 (print), 1650-3740 (online)


This paper describes a framework to extend the 3D robotic simulation environment Gazebo, and similar ones, with enhanced, tailor-made, multi-body dynamics specified in the Modelica language. The body-to-body interaction models are written in Modelica, but they use the sophisticated collision detection capabilities of the Gazebo engine. This contribution is a first step toward the simulation of complex robotics systems integrating detailed physics modelling and realistic sensors such as lidar and cameras. A proof-of-concept implementation is described in the paper integrating Gazebo collider and the Modelica MultiBody library, and the results obtained when simulating the interaction of an elastic sphere with a rigid plane are shown.


Multi-Body Dynamics, 3D Robotic Simulators, Autonomous Robotics, Autonomous Vehicles


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