Results 11 to 20 of about 3,604 (206)
Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers [PDF]
Heliyon, 2020 Dessert organisms like sandfish lizards (SLs) bend and generate thrust in granular mediums to scape heat and hunt for prey [1]. Further, SLs seems to have striking capabilities to swim in undulatory form keeping the same wavelength even in terrains with ...
A.J.R. Lopez-Arreguin, S. Montenegro
doaj +2 more sources
Improving engineering models of terramechanics for planetary exploration [PDF]
Results in Engineering, 2019 This short letter proposes more consolidated explicit solutions for the forces and torques acting on typical rover wheels, that can be used as a method to determine their average mobility characteristics in planetary soils.
A.J.R. Lopez-Arreguin, S. Montenegro
doaj +2 more sources
Collision-based energetic comparison of rolling and hopping over obstacles. [PDF]
PLoS One, 2018 Locomotion of machines and robots operating in rough terrain is strongly influenced by the mechanics of the ground-machine interactions. A rolling wheel in terrain with obstacles is subject to collisional energy losses, which is governed by mechanics ...
Giardina F, Iida F.
europepmc +5 more sources
Analytical Traction Force Model Development for Soil-Tire Interaction: Incorporating Dynamic Contact Area and Parameter Analysis Using Taguchi Method [PDF]
Biomechanism and Bioenergy Research, 2023 Three parameters of soil, vertical load and tire play a role in determining vehicle traction force in the process of soil and tire interaction. The complexity of the situation and the variability of variables such as the soil-tire contact area and ...
Behzad Golanbari, Aref Mardani
doaj +1 more source
Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle
Machines, 2022 Tracks and wheels are the most widely used running gear for the locomotion of agricultural vehicles. The main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution.
Andrea Grazioso +3 more
doaj +1 more source
IET Cyber-Systems and Robotics, Volume 5, Issue 3, September 2023., 2023 Abstract Modern agricultural tractors are complex systems, in which multiple physical (and technological) domains interact to reach a wide set of competing goals, including work operational performance and energy efficiency. This complexity translates to the dynamic, multi‐domain simulation models implemented to serve as digital twins, for rapid ...
Massimo Martelli +5 more
wiley +1 more source
Journal of Field Robotics, Volume 40, Issue 5, Page 1014-1033, August 2023., 2023 Abstract This paper proposes a high‐performance path following algorithm that combines Gaussian processes (GP) based learning and feedback linearization (FBL) with model predictive control (MPC) for ground mobile robots operating in off‐road terrains, referred to as GP‐FBLMPC.
Jie Wang +2 more
wiley +1 more source
In situ slip estimation for mobile robots in outdoor environments
Journal of Field Robotics, Volume 40, Issue 3, Page 467-482, May 2023., 2023 Abstract Accounting for wheel–terrain interaction is crucial for navigation and traction control of mobile robots in outdoor environments and rough terrains. Wheel slip is one of the surface hazards that needs to be detected to mitigate against the risk of losing the robot's controllability or mission failure occurring.
Payam Nourizadeh +2 more
wiley +1 more source
Advanced Intelligent Systems, Volume 5, Issue 3, March 2023., 2023 Although very successful for planetary exploration, wheeled rovers are largely limited to benign, solid extraterrestrial terrain. Recent progress in the new field of terradynamics, which describes how locomotion emerges from interaction with complex terrain, provides the foundation for enabling biologically inspired robots to robustly traverse a ...
Chen Li, Kevin Lewis
wiley +1 more source
Research on Characteristics of Tracked Vehicle Steering on Slope
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off‐road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off‐road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain.
Yu Zhang +7 more
wiley +1 more source