Results 51 to 60 of about 200 (171)

Calibration of an expeditious terramechanics model using a higher‐fidelity model, Bayesian inference, and a virtual bevameter test

Journal of Field Robotics, Volume 41, Issue 3, Page 550-569, May 2024.
Abstract The soil contact model (SCM) is widely used in practice for off‐road wheeled vehicle mobility studies when simulation speed is important and highly accurate results are not a main concern. In practice, the SCM parameters are obtained via a bevameter test, which requires a complex apparatus and experimental procedure.
Wei Hu, Pei Li, Huzaifa Mustafa Unjhawala, Radu Serban, Dan Negrut   +4 more
wiley   +1 more source

Soil Spectral Behavior Related to Its Load-Bearing Capacity Based on Moisture Content

Applied Sciences, 2023
Soil’s load-bearing capacity is a crucial property from which the ability of soil to resist the vertical deformation resulting from a normal load can be determined, and this property is essential for analyzing a vehicle’s performance over soil terrain in
Ahmed Elawad Eltayeb Ahmed, Alaa El Hariri, Péter Kiss   +2 more
doaj   +1 more source

In situ skid estimation for mobile robots in outdoor environments

Journal of Field Robotics, Volume 41, Issue 1, Page 179-194, January 2024.
Abstract Skidding is a surface hazard for mobile robots' navigation and traction control systems when operating in outdoor environments and uneven terrains due to the wheel–terrain interaction. It could lead to large trajectory tracking errors, losing the robot's controllability, and mission failure occurring.
Payam Nourizadeh, Fiona J. Stevens McFadden, Will N. Browne   +2 more
wiley   +1 more source

Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis

Aerospace
This paper presents datasets and analyses of 3D LiDAR scans capturing the rutting behavior of a rover wheel in a single-wheel terramechanics testbed.
Keisuke Takehana, Vinicius Emanoel Ares, Shreya Santra, Kentaro Uno, Eric Rohmer, Kazuya Yoshida   +5 more
doaj   +1 more source

Relationships among the contact patch length and width, the tire deflection and the rolling resistance of a free-running wheel in a soil bin facility

Spanish Journal of Agricultural Research, 2015
Qualitative and quantitative analysis of contact patch length-rolling resistance, contact patch width-rolling resistance and tire deflection-rolling resistance at different wheel load and inflation pressure levels is presented.
Parviz Tomaraee, Aref Mardani, Arash Mohebbi, Hamid Taghavifar   +3 more
doaj   +1 more source

Estimation of resistance force at steady-state sinkage for cylindrical wheel-typed lunar/planetary exploration rovers with function of push–pull locomotion

ROBOMECH Journal, 2020
Planetary exploration rovers have required a high traveling performance to overcome obstacles such as loose soil and rocks. Push-pull locomotion rovers is a unique scheme, like an inchworm, and it has high traveling performance on loose soil.
Daisuke Fujiwara, Naoki Tsujikawa, Tetsuya Oshima, Kojiro Iizuka   +3 more
doaj   +1 more source

Experimental Study on the Longitudinal Motion Performance of a Spherical Robot Rolling on Sandy Terrain

Actuators
To provide the necessary theoretical models of sphere–soil interaction for the structural design, motion control, and simulation of spherical robots, this paper derives analytical expressions for traction force and driving torque when spherical robots ...
Minggang Li, Hanxu Sun, Long Ma, Dongshuai Huo, Panpan Gao, Zhantong Wang   +5 more
doaj   +1 more source

High-resolution accessibility and energy cost assessment of 31 priority permanently shadowed regions at the lunar south pole

Frontiers in Astronomy and Space Sciences
The permanently shadowed regions (PSRs) at the lunar south pole are primary targets for future robotic exploration and in situ resource utilization (ISRU).
Yihao Chen, Mao Ye, Mao Ye, Denggao Qiu, Fei Li, Fei Li   +5 more
doaj   +1 more source

Evaluation of the shear deformation model in the process of wheel sinking by the wheel experiment

Nihon Kikai Gakkai ronbunshu, 2015
Soft soils cover on planetary surfaces, so the wheels for exploration rovers easily slip. Understanding an interaction between a wheel and soft soils is important for a traction control to improve rover traversability.
Noriaki MIZUKAMI, Genya ISHIGAMI, Tetsuo YOSHIMITSU, Takashi KUBOTA   +3 more
doaj   +1 more source

Slip-compensated odometry for tracked vehicle on loose and weak slope

ROBOMECH Journal, 2017
Odometry is widely used to localize wheeled and tracked vehicles because of its simplicity and continuity. Odometric calculations integrate the wheel or track’s rotation speed. The accuracy of position thus calculated, is affected by slippage between the
Genki Yamauchi, Keiji Nagatani, Takeshi Hashimoto, Kenichi Fujino   +3 more
doaj   +1 more source