Obtaining Contact Parameters for MBDS of a Wheelless Snake Robot
Hocheol Shin, Tea-Won Kim, Bong-Cheol Seo, Change-Hoi Kim, Heung-Seop Eom, Heung-Ho Lee, Robotics (ISR), 44th International Symposium, Seoul, October 2013, pp. 1-4.
Abstract
This paper shows a way to obtain contact parameters for multi-body dynamics simulation (MBDS) of a wheelless snake robot, KAEROT-snake V. We developed a simulation model of the snake robot in a commercial MBDS software RecurDyn (V8). RecurDyn provides a convenient way to model contact geometries directly from CAD models, which are very close to the actual shape. Contact parameters such as spring, damping and friction coefficient are very important in MBDS so that we obtained the contact parameters through experiments of falling and sliding test. The contact parameters were obtained by analyzing the images of the test and the MBDS simulation of the test. Some locomotion simulation results for the snake robot were experimentally verified.
How Multibody Dynamics Simulation Technology is Used
A snake robot was simulated in RecurDyn. The experimental method to obtain good values for spring, damping, and friction coefficients is outlined. This model is able to prove the ability of the snake robot to move efficiently. Different methods of locomotion can be quickly tested in various environments.
