# 6412 / Traversing Abilities Simulation Of A Biomimetic Robot On Granular Soil Terrain ## Authors Zhenwen Zhou, Xiang Lei, Dehai Guan, Yan Zhang, Gabriel Lodewijks, and Guangming Chen {% hint style="info" %} Paper presented at ISTVS 2024 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS\ Keywords: biomimetic robot; dynamics; discrete element method; foot/soil interaction; co-simulation\ {% endhint %} ## Abstract Biomimetic robots that adopt structure properties of desert animals have shown improved traversing abilities on granular soils over wheeled vehicles. To conveniently assess traversing abilities of these biomimetic robots, simulations for predicting robot behaviors on soil terrains can be used. Nonetheless, available simulation methods have not yet capable of predicting interactions of between robot foot and soil subjected to arbitrary motions. This work develops EDEM-Recurdyn-Simulink co-simulation method to simulate robot behaviors when traversing granular soil terrain. Using soil simulation parameters determined by experiment tests with a type of Mars soil analog, the traversing behaviors for robot to move forward and turn are simulated. Meanwhile, dynamic forces of robot foots are numerically estimated. The simulated robot behaviors and dynamics are in agreement with experimental tests. Therefore, this paper introduces an effective simulation method to assess traversing abilities of biomimetic robots on granular soil terrains. *** Full paper purchase: \ ISTVS members receive three complimentary papers per year: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://2024.istvs.org/submissions/papers/6412.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.