4 papers
Chrono-Gymnasium: An Open-Source, Gymnasium-Compatible Distributed Simulation Framework
Bocheng Zou, Harry Zhang, Khailanii Slaton +5
High-fidelity physics simulation is essential for closing the sim-to-real gap in robotics and complex mechanical systems. However, the computational overhead of high-fidelity engin…
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 Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation
Huzaifa Unjhawala, Luning Bakke, Harry Zhang +4
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problem…
MBD-NODE: Physics-informed data-driven modeling and simulation of constrained multibody systems
Jingquan Wang, Shu Wang, Huzaifa Mustafa Unjhawala +2
We describe a framework that can integrate prior physical information, e.g., the presence of kinematic constraints, to support data-driven simulation in multi-body dynamics. Unlike…