Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry

研究成果: Conference contribution

抄録

In this study, we developed a real-time simulation method for non-deformable continuous tracks having grousers for rough terrain by explicitly considering the collision and friction between the tracks and the ground. In the proposed simulation method, an arbitrary trajectory of a track is represented with multiple linear and circular segments, each of which is a link connected to a robot body. The proposed method sets velocity constraints between each segment link and the robot body, to simulate the track rotation around the body. To maintain the shape of a track, it also restores the positions of the segment links when required. Experimental comparisons with other existing real-time simulation methods demonstrated that while the proposed method considered the grousers and the friction with the ground, it was comparable to them in terms of the computational speed. Experimental comparison of the simulations based on the proposed method and a physical robot exhibited that the former was comparable to the precise motion of the robot on rough or uneven terrain.

本文言語English
ホスト出版物のタイトル2020 IEEE International Conference on Robotics and Automation, ICRA 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ948-954
ページ数7
ISBN(電子版)9781728173955
DOI
出版ステータスPublished - 2020 5
イベント2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
継続期間: 2020 5 312020 8 31

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
国/地域France
CityParis
Period20/5/3120/8/31

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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