![]() back drive wheel with tread around the drive wheel modeled as a single rigid body.front drive wheel with tread around the drive wheel modeled as a single rigid body.If near real-time performance is needed, one possible "cheat" I can think of is to break the track into a few sections: small time step size + high inner iteration count). I agree that simulating contacts between the tread's rigid body links, the drive wheels and the ground might be computationally very expensive to simulate stably and correctly (i.e. ![]() This would be a more accurate model of the tread but I'm concerned with the stability and performance of ODE if I take this approach. I have also considered modelling the track as a chain of rigid links being driven by the drive wheel. While this works, it is a very rough approximation and there are un-addressed issues such as determining the torque to apply on each wheel joint based upon the signal sent to the drive motor and the friction each wheel is encountering. The tread is modeled as a series of overlapping non-colliding wheels. I am particularly interested in tasks such as climbing over stairs the way these robots climb over stairs is dependent on some approximation of a track being present.ĭoes anyone have any advice or pointers on how I can model a track driven robot, preferably with Gazebo & URDF?Ĭurrently I am using ODE and some OpenGL visualizations I wrote myself. Ideally I would like to represent the robot with URDF and use Gazebo as the simulation environment. I'm trying simulate the movement of a robot with a rubber track similar to iRobot's LANdroid.
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