Deformable tire modeling

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

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Deformable tire modeling #1215

Open osrf-migration opened 10 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

The original report had attachments: Screen Shot 2014-06-23 at 3.19.57 PM.png

There are two primary modes of tire deformability / compliance:

Normal compliance: deformation of the tire carcass, primarily in the vertical direction (see quarter car model
Tangential compliance: deformation of tire at contact patch (see figure 1 here), leading to relationships between friction and tire slip

For normal compliance:

Implement something that approximates a vertical spring
Use dart / bullet soft body. To start with, we can use a torus model used by bullet.

For tangential compliance:

Use a simple Coulomb model
Use a model of friction as a function of slip with linear behavior for small slip (i.e. Pacejka Magic Tire model), friction ellipse (i.e. Dugoff), switching to Coulomb friction at low speeds

@iche033 @hsu

osrf-migration commented 10 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Edited issue description

osrf-migration commented 10 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Edited issue description

osrf-migration commented 10 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Edited issue description

osrf-migration commented 10 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

@scpeters shall we start with a tire treadmill test world as discussed?

osrf-migration commented 10 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Yes, let's start with a tire treadmill test world and aim to replicate force vs. slip relationships.

osrf-migration commented 10 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

created a tire-on-treadmill test rig in the tire_test_world (eab96cc7af036db3448b0951413d0b637ff86ca8) branch

osrf-migration commented 10 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

turns out the treadmill test rig in the tire_test_world (eab96cc7af036db3448b0951413d0b637ff86ca8) branch doesn't work in dart.

So I created another world with a dart cylinder soft body rolling over a flat moving box in dart_deform_tire_test (741844f27ce520c0458146a76348d71dd2bef628) branch.

osrf-migration commented 9 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

@nkoenig the conveyor belt model is in the tire_test_world (eab96cc7af036db3448b0951413d0b637ff86ca8) branch

could be useful for issue #863

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

I have an implementation mostly working in branch tire_friction_plugin

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

changed kind from "bug" to "enhancement"

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

set component to "physics"

osrf-migration commented 8 years ago

Original comment by Brian Goldfain (Bitbucket: bgoldfai).

Is this branch still active? This is a feature that would be useful for the project I am on. I got libTireFrictionPlugin.so to build and followed the example in this branch to add the plugin to one wheel of my 4-wheel vehicle model, but I always get the error: /plugins/TireFrictionPlugin.cc(88): TireFrictionPlugin collision pointer is NULL. I am using to Gazebo5 and ROS Jade on 15.04 and my model is a .urdf.xacro. I can provide more information if needed.

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

set version to "all"