The mobility of vehicles in off-road environments is critical for many applications. Predicting
the tire-soil interaction is a challenge, especially in non-linear deformable terrain. This paper …

Planetary rovers may traverse terrains with complex geometries and variable physical
properties, but their mobility behaviors are complicated and difficult to simulate precisely …

One of the major challenges faced by planetary exploration rovers today is the negotiation of
difficult terrain, such as fine granular regolith commonly found on the Moon and Mars …

A real-time multibody model of an off-road vehicle can be used to analyze the dynamics of
tasks, such as loading and/or transferring material from deformable ground. This analysis …

Simulation of wheel-ground and vehicle-ground interactions is very important in many
applications. Achieving accuracy and efficiency is challenging for both soft and hard terrains …

This paper describes a model for deformable soil based on triangular meshes with vertical
deformation. Such soil model can be used in a multi-body simulation environment to study …

The design of motion controllers that could reduce terrain disturbances propagated to the
arm and optimize the trajectories of skid-steer mobile manipulators (SSMMs) working in …

Cable-suspended robots may move beyond their static workspace by keeping all cables
under tension, thanks to end-effector inertia forces. This may be used to extend the robot …

Two types of cap parameters were determined by fitting the experimentally obtained triaxial
deviator stress curves found in the literature using the modified Drucker–Prager cap model …

To analyse the stability of a digging anchor machine under digging conditions, the dynamics
model of the anchor machine and the interaction mechanics model between its tracks and …