Improved Terzaghi-theory-based interaction modeling of rotary robotic locomotors with granular substrates

Chuanxiao Yang,Liang Ding,Dewei Tang,Haibo Gao,Lizhou Niu,Qingning Lan,Chen Li,Zongquan Deng

Mechanism and Machine Theory（2020）

引用 3|浏览28

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摘要

•Limitations of conventional Terzaghi sliding model are analyzed systematically.•Interacting experiments between flat plates with different widths and sand.•Equivalent width and novel zero moment point position in improved model.•Excellent predictives power of forces when rotary legs step onto granular media.

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关键词

Interaction mechanics,Rotary robot legs,Granular substrates,Terzaghi theory,Terramechanics

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