Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry
Yoshito Okada,Shotaro Kojima,Kazunori Ohno,Satoshi Tadokoro,Yoshito Okada,Shotaro Kojima,Kazunori Ohno,Satoshi Tadokoro
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...
