Mobility evaluation of wheeled robots on soft terrain: Effect of internal force distribution
Many applications of wheeled robots include operations in unstructured environments.
Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit …
Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit …
Terramechanics-based modeling of sinkage and moment for in-situ steering wheels of mobile robots on deformable terrain
The success of NASA's Mars missions has generated a renewed interest in planetary
exploration, along with a need for better mobility of wheeled mobile robots (WMRs) …
exploration, along with a need for better mobility of wheeled mobile robots (WMRs) …
Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots1
G Mottola, C Gosselin… - Journal of …, 2018 - asmedigitalcollection.asme.org
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 …
under tension, thanks to end-effector inertia forces. This may be used to extend the robot …
A multibody dynamics framework for simulation of rovers on soft terrain
A new framework is developed for efficient implementation of semi-empirical terramechanics
models in multibody dynamics environments. In this approach, for every wheel in contact …
models in multibody dynamics environments. In this approach, for every wheel in contact …
A Cam Clay constitutive relation for semi-analytical elasto-plastic modeling of wheel-soil interaction for fast applications
AH Rahimi, A Azimi, T Goudarzi - Mechanics Based Design of …, 2024 - Taylor & Francis
In this paper, a semi-analytical elasto-plastic (SAEP) model is proposed to simulate wheel
motion on soft soil using a Modified Cam Clay (MCC) constitutive model. The focus is on …
motion on soft soil using a Modified Cam Clay (MCC) constitutive model. The focus is on …
Terrain parameter identification for wheeled mobile robots using deep neural networks
This paper introduces an innovative approach to soil parameter estimation using deep
artificial neural networks (ANN) tailored to estimate a wide range of soil types. Previous …
artificial neural networks (ANN) tailored to estimate a wide range of soil types. Previous …
A novel concept for analysis and performance evaluation of wheeled rovers
The analysis, design, and operation planning of rovers are often based on predictive
dynamic simulation, where the multibody model of the vehicle is combined with …
dynamic simulation, where the multibody model of the vehicle is combined with …
Advances in physically-based modeling of deformable soil for real-time operator training simulators
In recent years, realistic simulation of vehicles on soft terrain has increasingly gained
importance due to its use in operator training, mission planning and design. In this work we …
importance due to its use in operator training, mission planning and design. In this work we …
Neural network estimation of soil reaction in rigid wheel and soft terrain interaction based on modified dynamic model
This study undergoes the application of neural networks in a modified wheel-solid
interaction model. First, a new efficient model for interaction between wheel and soil is …
interaction model. First, a new efficient model for interaction between wheel and soil is …
Input queuing of an internally nonblocking packet switch with two priority classes
JSC Chen, R Guerin - IEEE INFOCOM'89, Proceedings of the Eighth …, 1989 - computer.org
In recent years, realistic simulation of vehicles on soft terrain has increasingly gained
importance due to its use in operator training, mission planning and design. In this work we …
importance due to its use in operator training, mission planning and design. In this work we …