Foot-terrain Deformation based Parameters Identification of MuJoCo for Simulation of Bipedal Locomotion on Deformable Terrain

Sunil Gora, Ashish Dutta

Keywords: Bipedal locomotion, Contact mechanics, Deformable terrain

Abstract: Biped locomotion on deformable terrain is challenging due to the need for accurately modeling the terrain deformation during walk. In this paper, we analyze the solver parameters of the sphere-plane collision model for a biped robot walk on deformable terrain. The static equilibrium deformation of the terrain is used to identify these parameters, which are further corrected using the robot’s inverse dynamics to simulate bipedal locomotion on deformable terrain.

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Submission Number: 14