Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , |
|---|---|
| Format: | Preprint |
| Publié: |
2023
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866917651951910912 |
|---|---|
| author | Aoshima, Koji Servin, Martin |
| author_facet | Aoshima, Koji Servin, Martin |
| contents | We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field test time series of the vehicle motion and actuation forces, loaded mass, and total work. The vehicle was modeled as a rigid multibody system with frictional contacts, driveline, and linear actuators. For the soil, we tested discrete element models of different resolutions, with and without multiscale acceleration. The spatio-temporal resolution ranged between 50-400 mm and 2-500 ms, and the computational speed was between 1/10,000 to 5 times faster than real-time. The simulation-to-reality gap was found to be around 10% and exhibited a weak dependence on the level of fidelity, e.g., compatible with real-time simulation. Furthermore, the sensitivity of an optimized force feedback controller under transfer between different simulation domains was investigated. The domain bias was observed to cause a performance reduction of 5% despite the domain gap being about 15%. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_05765 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain Aoshima, Koji Servin, Martin Computational Engineering, Finance, and Science Robotics We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field test time series of the vehicle motion and actuation forces, loaded mass, and total work. The vehicle was modeled as a rigid multibody system with frictional contacts, driveline, and linear actuators. For the soil, we tested discrete element models of different resolutions, with and without multiscale acceleration. The spatio-temporal resolution ranged between 50-400 mm and 2-500 ms, and the computational speed was between 1/10,000 to 5 times faster than real-time. The simulation-to-reality gap was found to be around 10% and exhibited a weak dependence on the level of fidelity, e.g., compatible with real-time simulation. Furthermore, the sensitivity of an optimized force feedback controller under transfer between different simulation domains was investigated. The domain bias was observed to cause a performance reduction of 5% despite the domain gap being about 15%. |
| title | Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain |
| topic | Computational Engineering, Finance, and Science Robotics |
| url | https://arxiv.org/abs/2310.05765 |