TY - GEN
T1 - Study on Connection between Vibration and Resistance Force from Loose Soil for Leg Typed Rovers
AU - Watanabe, Tomohiro
AU - Iizuka, Kojiro
N1 - Funding Information:
This work was supported by JKA and its promotion founds from KEIRIN RACE.
Publisher Copyright:
© 2020 The Society of Instrument and Control Engineers - SICE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/9/23
Y1 - 2020/9/23
N2 - 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.
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.
KW - leg typed robot
KW - loose soil
KW - terramechannics
KW - vibration
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M3 - Conference contribution
AN - SCOPUS:85096352806
T3 - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
SP - 1399
EP - 1403
BT - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
Y2 - 23 September 2020 through 26 September 2020
ER -