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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...
The use of rescue robots in disaster response has become increasingly common, but few of them can operate on harsh amphibious terrain, especially on soft terrain. To access such challenging environments, we have proposed a novel eccentric paddle mechanism (ePaddle) which exhibits high environmental adaptability and can achieve six major types of gait, such as wheel-like rolling, two legged walking...
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