TY - GEN
T1 - Gazebo Fluids
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
AU - Angelidis, Emmanouil
AU - Bender, Jan
AU - Arreguit, Jonathan
AU - Gleim, Lars
AU - Wang, Wei
AU - Axenie, Cristian
AU - Knoll, Alois
AU - Ijspeert, Auke
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DART, MuJoCo, bullet, SimBody, PhysX or RaiSim, is that they focus on the solution of articulated rigid bodies with collisions and contacts problems, while paying less attention to other physical phenomena. This restriction limits the range of addressable simulation problems, rendering applications such as soft robotics, cloth simulation, simulation of viscoelastic materials, and fluid dynamics, especially surface swimming, infeasible. In this work, we present Gazebo Fluids, an open-source extension of the popular Gazebo robotics simulator that enables the interaction of articulated rigid body dynamics with particle-based fluid and deformable solid simulation. We implement fluid dynamics and highly viscous and elastic material simulation capabilities based on the Smoothed Particle Hydrodynamics method. We demonstrate the practical impact of this extension for previously infeasible application scenarios in a series of experiments, showcasing one of the first self-propelled robot swimming simulations with SPH in a robotics simulator.
AB - Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DART, MuJoCo, bullet, SimBody, PhysX or RaiSim, is that they focus on the solution of articulated rigid bodies with collisions and contacts problems, while paying less attention to other physical phenomena. This restriction limits the range of addressable simulation problems, rendering applications such as soft robotics, cloth simulation, simulation of viscoelastic materials, and fluid dynamics, especially surface swimming, infeasible. In this work, we present Gazebo Fluids, an open-source extension of the popular Gazebo robotics simulator that enables the interaction of articulated rigid body dynamics with particle-based fluid and deformable solid simulation. We implement fluid dynamics and highly viscous and elastic material simulation capabilities based on the Smoothed Particle Hydrodynamics method. We demonstrate the practical impact of this extension for previously infeasible application scenarios in a series of experiments, showcasing one of the first self-propelled robot swimming simulations with SPH in a robotics simulator.
UR - http://www.scopus.com/inward/record.url?scp=85146343608&partnerID=8YFLogxK
U2 - 10.1109/IROS47612.2022.9982036
DO - 10.1109/IROS47612.2022.9982036
M3 - Conference contribution
AN - SCOPUS:85146343608
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 11238
EP - 11245
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 October 2022 through 27 October 2022
ER -