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To improve the mobility of locomotive devices on loose, sandy terrain, protrusions or convex patterns called lugs (i.e., grousers) are attached to the surface of a locomotive modulus. Following our previous study, in which the effects of angular speed, lug sinkage length, and soil cumulative deformation on lug-soil interaction forces during the fixed-axis rotational motion were experimentally confirmed,...
To access loose sandy terrains, lugs (i.e., grousers) are attached on the surface of wheels/tracks to enhance the traveling performance of mobile robots. To clearly understand lug-soil interaction mechanism, an empirical model of normal force acting on lug during horizontal shearing motion has been established in our previous research. Moreover, it has been found that before this model can be extended...
To improve the mobility of wheeled robots on loose sandy terrain, lugs (i.e., grousers) are attached to the surface of each wheel. Unlike existing studies that focus on the effects of lug shape (e.g. height and width) on lug-soil interaction forces, this study involved experimental and quantitative analyses to investigate the effects of parameters such as inclination angle, sinkage length, and moving...
Wheeled mobile robots working on sandy soil (e.g. planetary surface, desert, etc.) are commonly equipped with lugs (i.e. grousers) on wheels to improve travelling performance. It has been verified that presence of these lugs significantly affects on the traction performance of the locomotion mechanisms on soft terrains. However, the influences of movable lugs on traction performance are unclear, since...
Lugs (i.e., grousers) are attached on the surface of wheels/tracks of mobile robots to enhance their traveling performance for accessing loose sandy terrains. The goal of this study is to experimentally confirm the effects of velocity, sinkage length, moving direction angle and inclination angle on the tangential force acting on an actively actuated lug. Moreover, based on comparison of the measured...
Sandy terrains are widely distributed on this planet and include desert, beach, and area affected by volcanic eruption where covered with ash. Currently, these environments still present a challenge for mobile robots due to their poor trafficability. One of the most essential requirements on such terrains for mobile robots is to generate enough drawbar pull with a small amount of slippage. For this...
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