2 citations · 2 across the 5 of their papers we have counts for
5 papers
Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control
Harry Zhang, Dan Negrut
High-fidelity embodied AI simulators provide realistic evaluation of complex robotic systems, but their computational cost limits their direct use for large-scale reinforcement lea…
Co-Design of Rover Wheels and Control using Bayesian Optimization and Rover-Terrain Simulations
Huzaifa Mustafa Unjhawala, Khizar Shaikh, Luning Bakke +2
While simulation is vital for optimizing robotic systems, the cost of modeling deformable terrain has long limited its use in full-vehicle studies of off-road autonomous mobility.…
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part I -- Formulation
Zhenhao Zhou, Ganesh Arivoli, Dan Negrut
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-…
Using high-fidelity discrete element simulation to calibrate an expeditious terramechanics model in a multibody dynamics framework
Yuemin Zhang, Junpeng Dai, Wei Hu +1
The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to…
Using physics-based simulation towards eliminating empiricism in extraterrestrial terramechanics applications
Wei Hu, Pei Li, Arno Rogg +5
Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution dis…