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roswebots

Does Webots simulator support closed-loop kinematic chains?

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

Solution

  • 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.