Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers

Tomohiro Watanabe; Kojiro Iizuka

Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers

Functional Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

It is difficult to walk on the loose ground for the leg typed rovers. Our study group considered that traction of the leg typed rovers is passive earth pressure given to the leg. Passive earth pressure given to the leg is increased by changes of the ground when giving vibration. Therefore, increasing sinkage which is increased when giving vibration to the ground is important to increase passive earth pressure. However, the relationship between the kind of vibration and the sinkage which is increased when giving vibration to the ground is not still understood. In this study, the effects which are given by vibration to the ground are confirmed from the experiment using a few kinds of vibration. In this experiment, the rod which is same as leg types is penetrated in the ground using the experimental machine. Moreover, resistance force from the ground is measured. In experimental results, It was confirmed that the more vibratory force is high, the more resistance from the ground is small.

Original language	English
Title of host publication	2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1399-1403
Number of pages	5
ISBN (Electronic)	9781728110899
Publication status	Published - 2020 Sept 23
Event	59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 - Chiang Mai, Thailand Duration: 2020 Sept 23 → 2020 Sept 26

Publication series

Name	2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020

Conference

Conference	59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
Country/Territory	Thailand
City	Chiang Mai
Period	20/9/23 → 20/9/26

Keywords

leg typed robot
loose soil
terramechannics
vibration

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Computer Vision and Pattern Recognition
Signal Processing
Decision Sciences (miscellaneous)
Industrial and Manufacturing Engineering

Cite this

Watanabe, T., & Iizuka, K. (2020). Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers. In 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 (pp. 1399-1403). (2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020). Institute of Electrical and Electronics Engineers Inc..

Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers. / Watanabe, Tomohiro; Iizuka, Kojiro.
2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1399-1403 (2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, T & Iizuka, K 2020, Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers. in 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020. 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1399-1403, 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020, Chiang Mai, Thailand, 20/9/23.

Watanabe T, Iizuka K. Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers. In 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1399-1403. (2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020).

Watanabe, Tomohiro ; Iizuka, Kojiro. / Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers. 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1399-1403 (2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020).

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abstract = "It is difficult to walk on the loose ground for the leg typed rovers. Our study group considered that traction of the leg typed rovers is passive earth pressure given to the leg. Passive earth pressure given to the leg is increased by changes of the ground when giving vibration. Therefore, increasing sinkage which is increased when giving vibration to the ground is important to increase passive earth pressure. However, the relationship between the kind of vibration and the sinkage which is increased when giving vibration to the ground is not still understood. In this study, the effects which are given by vibration to the ground are confirmed from the experiment using a few kinds of vibration. In this experiment, the rod which is same as leg types is penetrated in the ground using the experimental machine. Moreover, resistance force from the ground is measured. In experimental results, It was confirmed that the more vibratory force is high, the more resistance from the ground is small.",

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author = "Tomohiro Watanabe and Kojiro Iizuka",

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AB - It is difficult to walk on the loose ground for the leg typed rovers. Our study group considered that traction of the leg typed rovers is passive earth pressure given to the leg. Passive earth pressure given to the leg is increased by changes of the ground when giving vibration. Therefore, increasing sinkage which is increased when giving vibration to the ground is important to increase passive earth pressure. However, the relationship between the kind of vibration and the sinkage which is increased when giving vibration to the ground is not still understood. In this study, the effects which are given by vibration to the ground are confirmed from the experiment using a few kinds of vibration. In this experiment, the rod which is same as leg types is penetrated in the ground using the experimental machine. Moreover, resistance force from the ground is measured. In experimental results, It was confirmed that the more vibratory force is high, the more resistance from the ground is small.

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Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers

Abstract

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Keywords

ASJC Scopus subject areas

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