Is there a way to create Floating Base in Robotics Toolbox?

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Yigit Yakupoglu 2018-9-7

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https://ww2.mathworks.cn/matlabcentral/answers/418065-is-there-a-way-to-create-floating-base-in-robotics-toolbox

评论： Fenglong Song 2022-5-26

I want to create a n-link robot with floating base, but it seems like the robot somehow should be connected to a base always. Is there a workaround to create a floating base in robotics toolbox? I prefer not using simulink for some other reasons. Thanks.

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MathWorks Robotics and Autonomous Systems Team 2018-11-19

Hi Yigit,

Sorry we do not have a direct support for floating base yet, but we are looking into this. Can you elaborate your use-case, as to where you are planning to use this, the application, the robot etc?

Also are you also looking into any downstream algorithms which are applicable to only floating base - we would be eager to learn about them.

Thanks

Robotics team

Fenglong Song 2022-5-26

Hi,

Thanks for your efforts of working on this. I also want to create a floating-base robot in matlab. I'd like to ask if there is any support until now since it's already almost 4 years after last answer :)

My use case is, I imported a quadruped robot using

robot = importrobot('anymal.urdf')

and I want to compute the dynamics with forwardDynamics function. Considering the quadruped robot is floating-base robot, I wonder is there any method to add a 6-dof joint to connect the base and the world.

Thanks!

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