Application of the TDR Soil Moisture Sensor for Terramechanical Research [PDF]
Sensors, 2019 This paper presents examples of the application of the TDR (Time-Domain Reflectometry) sensor in terramechanical research. Examples include the determination of soil moisture content during off-road vehicle mobility tests, the determination of snow ...
Jarosław Pytka +4 more
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Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers [PDF]
Sensors, 2023 Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain.
Fengtian Lv +6 more
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Modeling and Analysis of a Reconfigurable Rover for Improved Traversing over Soft Sloped Terrains [PDF]
Biomimetics, 2023 Adjusting the roll angle of a rover’s body is a commonly used strategy to improve its traversability over sloped terrains. However, its range of adjustment is often limited, due to constraints imposed by the rover design and geometry factors such as ...
Shipeng Lyu +4 more
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Terrain Characterization via Machine vs. Deep Learning Using Remote Sensing [PDF]
Sensors, 2023 Terrain traversability is critical for developing Go/No-Go maps for ground vehicles, which significantly impact a mission’s success. To predict the mobility of terrain, one must understand the soil characteristics.
Jordan Ewing +8 more
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Mole crab-inspired vertical self-burrowing [PDF]
Frontiers in Robotics and AI, 2022 We present EMBUR—EMerita BUrrowing Robot—the first legged robot inspired by the Pacific mole crab, Emerita analoga, capable of burrowing vertically downward.
Laura K. Treers +3 more
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Surprising simplicity in the modeling of dynamic granular intrusion. [PDF]
Sci Adv, 2021 Granular intrusions, such as dynamic impact or wheel locomotion, are complex multiphase phenomena where the grains exhibit solid-like and fluid-like characteristics together with an ejected gas-like phase.
Agarwal S +3 more
europepmc +2 more sources
Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain [PDF]
Frontiers in Robotics and AIA planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable ...
Go Sakayori, Genya Ishigami
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Slip estimation model for traversability-based motion planning of cargo rover on extraterrestrial surface [PDF]
Frontiers in Robotics and AIAs part of the robotics technologies required for In-situ resource utilization (ISRU), the development of cargo rovers for transporting resources is needed.
Taisei Nishishita, Genya Ishigami
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Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions [PDF]
SensorsTrafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility.
Omer Rauf +3 more
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Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain [PDF]
The Scientific World Journal, 2014 A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory ...
Zhengcai Li, Yang Wang
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