<p>Testing a robot in a real environment to investigate possible mechanical design flaws can be difficult sometimes, either because the researchers need to assemble the system or the environment in which the robot is designed to operate is hard to reach. In this work, we will present a robot simulation framework that allows researchers to assemble the robot’s mechanical system and deploy the robot for testing on rigid and semi-empirical modeled terrain in simulation using the physical simulation framework in Project Chrono. In this work, we will present a Curiosity rover model assembled in a virtual simulation framework with a fully working Rocker-Bogie suspension system, independent steering capabilities, and rover wheel geometries with grousers for rover-terrain interaction. Two experimental results will be presented showing the simulated Curiosity rover operated in an obstacle-crossing scenario on rigid and semi-empirical deformable terrain based on the Bekker-Wong model. Numerical analysis and comparison on the collected data which are crucial for the development of driving control algorithms, such as on-board gyroscope and accelerometer readings and force and torque readings on rover wheels, will be presented for validation purposes. Several simulation demonstrations followed will also show the control interfaces implemented in the template such as steering control. This work provides not only a three-dimensional simulation framework for the testing of the robotic mechanical behaviors, with the implementation of deformable terrain, the simulated terrain and environment can help researchers to perform effective simulation on the traction control algorithm before the field tests of the actual robot prototype.</p>

Simulation of Robotic Mechanical Systems and Application in Robot-Terrain Interaction Using Project Chrono

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

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