EELS-DARTS: A Versatile Multibody Dynamics Simulator for Autonomous Snake-Like Robots

EELS-DARTS is a first of its kind versatile multibody dynamics simulator designed for autonomy development and analysis of large-scale snake-like robots. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody representation used to model a variety of distinct snake robot configurations. A simple anisotropic friction model for describing screw-ice interaction is derived. Additional simulation components such as graphics, importable terrain, joint controllers, and perception are discussed. Methods for setting up and running simulations are discussed, including how the snake robot autonomy stack exchanges commands and information with the simulation via ROS. Multiple use cases are shown that represent how the simulation was used to aid and inform designs at distinct points in the robot life cycle. A validation analysis of the screw-ice contact model is performed for the surface mobility case. Lastly, an overview of simulation use throughout field test planning and operations during a recent trip to the Athabasca Glacier in Canada is discussed.