Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine

Name: Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine
Uploaded: 2026-10-03T18:14:21.892868+00:00
Duration: 894 s
Description: This work integrates 3D Resistive Force Theory (RFT) into MuJoCo to simulate a legged robot walking in sand without modeling individual grains. The resulting RFT-SiM framework successfully captures key trends from physical experiments within 20% accuracy, validating its use as a stable tool for predicting robotic locomotion in granular media.

This work integrates 3D Resistive Force Theory (RFT) into MuJoCo to simulate a legged robot walking in sand without modeling individual grains. The resulting RFT-SiM framework successfully captures key trends from physical experiments within 20% accuracy, validating its use as a stable tool for predicting robotic locomotion in granular media.

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