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 …

Many applications of wheeled robots include operations in unstructured environments.
Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit …

A novel approach is proposed for the modeling of rigid-wheel and soft-soil interaction to
efficiently compute normal and shear stress distributions in the contact area. The authors …

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 …

To research the muzzle response characteristics of marching small unmanned ground
vehicles with small arms (SUGVsSA), this paper establishes a launch dynamic model of an …

Virtual reality (VR) based on deepwater installation training provides new workers or
inexperienced workers with rehearsing and training environment so that they can immerse …

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 …

Dynamic simulations of various types of off-road vehicles, from planetary rovers to
agricultural equipment, have long relied on well-established semi-empirical terramechanics …

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 …

In this work, a multibody dynamics model of a wheeled mobile robot is developed to
characterize the terrain reaction forces in terms of the physical and control parameters of the …