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Models for Slip Estimation and Soft Terrain Characterization with Multi-Legged Wheel-Legs

Comin, FJ and Saaj, Chakravarthini Models for Slip Estimation and Soft Terrain Characterization with Multi-Legged Wheel-Legs IEEE Transactions on Robotics.

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Abstract

Successful operation of off-road mobile robots faces the challenge of mobility hazards posed by soft, deformable terrain, e.g. sand traps. The slip caused by these hazards has a significant impact on tractive efficiency, leading to complete immobilization in extreme circumstances. This paper addresses the interaction between dry frictional soil and the multi-legged wheelleg concept, with the aim of exploiting its enhanced mobility for safe, in-situ terrain sensing. The influence of multiple legs and different foot designs on wheel-leg-soil interaction is analyzed by incorporating these aspects to an existing terradynamics model. In addition, new theoretical models are proposed and experimentally validated to relate wheel-leg slip to both motor torque and stick-slip vibrations. These models, capable of estimating wheelleg slip from purely proprioceptive sensors, are then applied in combination with detected wheel-leg sinkage to successfully characterize the load bearing and shear strength properties of different types of deformable soil. The main contribution of this paper enables non-geometric hazard detection based on detected wheel-leg slip and sinkage.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
NameEmailORCID
Comin, FJUNSPECIFIEDUNSPECIFIED
Saaj, ChakravarthiniC.Saaj@surrey.ac.ukUNSPECIFIED
Copyright Disclaimer : (c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Uncontrolled Keywords : Field Robots, Wheeled Robots; Force and Tactile; Sensing; Slip Estimation; Robot-Terrain Interaction Models
Depositing User : Jane Hindle
Date Deposited : 10 Aug 2017 14:04
Last Modified : 10 Aug 2017 14:04
URI: http://epubs.surrey.ac.uk/id/eprint/841884

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