A real-time, high fidelity dynamic simulation platform for hexapod robots on soft terrain

Dynamic simulation is an important aspect of legged robotic research, which is essential for its design and control. However, the dynamics of the interaction between a soft terrain and a deformable leg (e.g., a spring) is hardly taken into account. In this paper, a high-fidelity, faster-than-real-time simulation system for hexapod robots has been developed based on Vortex. Foot-terrain interaction mechanics and flexible mechanical system are taken into account in order to improve the simulation precision. A general foot-terrain interaction model is presented based on terramechanics. Pseudo-rigid-body method is used to simulate the flexibility of the robot. A speed test shows that the simulation system is capable of real-time or faster simulation. The simulation system's fidelity was validated using two hexapod robots, which is found to be greater than 90%.