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Moreover, through the use of Simulink dynamic mask blocks, the proposed simulator supports robot models integrating open-chain and closed-chain kinematics with any desired number of links interacting with the ground. This simulator can also integrate second-order actuator dynamics. Furthermore, the simulator benefits from a one-line installation and an easy-to-use Simulink interface. <\/jats:p>","DOI":"10.1142\/s1793351x24300036","type":"journal-article","created":{"date-parts":[[2023,12,17]],"date-time":"2023-12-17T13:31:52Z","timestamp":1702819912000},"page":"239-255","source":"Crossref","is-referenced-by-count":2,"title":["A Flexible MATLAB\/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details"],"prefix":"10.1142","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1117-2428","authenticated-orcid":false,"given":"Nuno","family":"Guedelha","sequence":"first","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1671-0547","authenticated-orcid":false,"given":"Venus","family":"Pasandi","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6042-3222","authenticated-orcid":false,"given":"Giuseppe","family":"L\u2019Erario","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9283-6133","authenticated-orcid":false,"given":"Silvio","family":"Traversaro","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7600-3203","authenticated-orcid":false,"given":"Daniele","family":"Pucci","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2024,3,2]]},"reference":[{"key":"S1793351X24300036BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3068769"},{"key":"S1793351X24300036BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3174367"},{"key":"S1793351X24300036BIB004","first-page":"6","volume":"2","author":"Nori F.","year":"2015","journal-title":"Front. 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