# A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground

arXiv: https://arxiv.org/abs/2211.09716 · HTML: https://mlsanity.com/paper/2211.09716/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [Learning Aerodynamics for the Control of Flying Humanoid Robots](https://mlsanity.com/paper/2506.00305/) (2025)

## Abstract (arXiv)

Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function blocks, the presented simulator combines a programmatic and block-based approach, resulting in a flexible design in the sense that different parts, including its physics engine, robot-ground interaction model, and state evolution algorithm are simply accessible and editable. Moreover, through the use of Simulink dynamic mask blocks, the proposed simulation framework supports robot models integrating open-chain and closed-chain kinematics with any desired number of links interacting with the ground. The simulator can also integrate second-order actuator dynamics. Furthermore, the simulator benefits from a one-line installation and an easy-to-use Simulink interface.