A Model for Simulating the Robotic Pushing of Dirt

Samuel Rodriguez; Zixiu Su; Jiazhen Yu

IROS 2019poster0 citations

A Model for Simulating the Robotic Pushing of Dirt

Abstract

In this paper we present a model for simulating the pushing of dirt. This is a complex problem requiring the study of the action space for the robot, a deformable model for movable earth, the interaction between the robot's pushing surface and the environment, and techniques that will allow this model to simulate such a scenario. We present our novel framework for studying this problem including the grid-based model of the environment, a simplified earth pushing robot model, and action strategies to model the pushing of dirt from one area of the environment to another.

BibTeX

@inproceedings{iros2019_amodelforsimulat,
  title = {A Model for Simulating the Robotic Pushing of Dirt},
  author = {Samuel Rodriguez and Zixiu Su and Jiazhen Yu},
  booktitle = {IROS 2019},
  year = {2019}
}