Wheel Locomotion Using 3D-RFT and Sand Deformation Model

Overview

This code applies 3D-RFT method and sand deformation simulator to model wheel-soil interaction. Refer to the paper for detail implementaion.

Authors: Qishun Yu, Catherine Pavlov, Wooshik Kim

Affiliation: The Robomechanics Lab at Carnegie Mellon University

The code has been tested under Ubuntu 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Usage

The current procedure to generate forces and sand deformation heighmap is as follows:

• wheel/readWheelStl.m : This script should run first to export mesh representaion from ".stl" file. The wheel geometry data is stored as:
  • data.Points : Contains all the mesh center locations in 3D (3 * n)
  • data.Area : Contains the mesh area information (1 * n)
  • data.Normals : Contains all the mesh normal vectors (3 * n)
• RFT3D/testSingleRFT.m : This script shows an example of running the proposed methods. The exported wheel geometry data ("grousered_wheel_125.mat") is passed to the RFT calculation method

Functions

• RFT3D/RFT3D.m : 3DRFT methods
• RFT3D/RFT3DSandfunc.m: 3DRFT+SDM methods
• output/dataprocess.m : process and plot the output forces