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

Tomohiro Watanabe, Kojiro Iizuka

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1399-1403
Number of pages5
ISBN (Electronic)9781728110899
Publication statusPublished - 2020 Sep 23
Event59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 - Chiang Mai, Thailand
Duration: 2020 Sep 232020 Sep 26

Publication series

Name2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020

Conference

Conference59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
CountryThailand
CityChiang Mai
Period20/9/2320/9/26

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

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