Quadruped virtual robot simulation in a virtual environment obeying physical laws

Miyoshi, Kouki; Abe, Norihiro; Tabuchi, Yoshihiro; Taki, Hirokazu; He, Shuai

doi:10.1007/s10015-009-0661-6

Cited by 1 publication

(2 citation statements)

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“…Then the system calculation will be too time-consuming, to meet the real-time simulation requirements. Jisheng Ma et al [3][4][5][6][7][8][9][10][11][12][13] had built a simplified vehicle model which omitted to the tracks and obtained the road excitations that are exerted to the road wheels of the vehicle. Analysis shows that the effect of simplified model on the calculation accuracy of the dynamic response of the vehicle can be negligible.…”

Section: The Vehicle Modelmentioning

confidence: 99%

“…Vortex, by CMLabs, which provides a set of libraries for rigid-body dynamics, collision detection, contact creation, and collision response, is a real-time physics-based 3D visualization and simulation software tool [8]. It is widely applied in vehicles [9], robotics [10], virtual reality [11] and other areas. In this article we build a tracked vehicle dynamic model with the Vortex toolkit for the driving simulator.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Dynamic Simulation of Tracked Vehicle in Vortex

Xie

Wei

Zhou

et al. 2011

AMR

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Real-time calculation of dynamics model is one of the key technologies in the driving simulator. A multi-body dynamics model of tracked vehicle was developed using the Vortex software. The sinusoid superposition method was exploited to extend the 2-D road surface spectrum and to establish the 3-D road roughness elevation data in accord with the state standard. Then the elevation data were imported into Multigen Creator to construct the 3-D virtual road. Including the vehicle model, the virtual reality system was created. In the simulation of riding comfort, the responses of the vehicle were obtained when the vehicle traversed under road excitation of D grade with constant speed. The result shows that the system offers good immersion and real-time performance. It is feasible to be applied to the tracked vehicle driving simulator.

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