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Short version is the post title.

Long explanation here.

Recently, I've been working on a rover project, the suspension mechanism for which is rocker-bogie mechanism with a differential bar (not a gearbox) .

I have been working on the simulation task using Gazebo but the problem is URDF does not support closed-loop kinematic chains and the rocker-bogie suspension mechanism actually turns the robot into a closed-loop chain.

Now, since Webots is free too and it actually has a rover model (Sojourner), I'm wondering if it support robots with closed-loop chains.

Thanks

eslam
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Yes, Webots supports closed-loop kinematic chains thanks to the SolidReference node which allows you to close the loop at any point. Simple example simulations of close-loop chain include the Stewart platform or even simpler, the pedal racer. The NASA Sojourner robot is a more complex robot, but doesn't include closed-loop chains.

Olivier Michel
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  • Thanks a lot, but I have one more question, it's about Sojourner robot, which part/point of it is the loop-closure? I may use its model in Webots as a reference for constructing my rover model. – eslam Oct 12 '19 at 07:26
  • The Sojourner model does not actually contain any closed-loop. For close-loop refer instead to the other examples mentioned by Olivier Michel. – David Mansolino Oct 14 '19 at 08:31