The Compliant Joint Toolbox for MATLAB: An Introduction with Examples

Joern Malzahn, Wesley Roozing, Nikolaos Tsagarakis

    Research output: Contribution to journalArticleAcademicpeer-review

    3 Citations (Scopus)
    9 Downloads (Pure)


    This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.

    Original languageEnglish
    Article number8684261
    Pages (from-to)52-63
    Number of pages12
    JournalIEEE Robotics and Automation Magazine
    Issue number3
    Early online date9 Apr 2019
    Publication statusPublished - 1 Sep 2019


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