Hopping Motion Estimation on Soft Soil by Resistive Force Theory

Hopping Motion Estimation on Soft Soil by Resistive Force Theory

Various planetary terrains or asteroids, which are hard to traverse with wheeled platforms, are expected to be explored. Bekker’s model cannot be applied to estimate the motions of rovers without wheels, such as the hopping rover (hopper). In this paper, the resistive force theory (RFT) approach is...

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Veröffentlicht in:Journal of robotics and mechatronics 2017-10, Vol.29 (5), p.895-901
Hauptverfasser: Sakamoto, Kosuke, Otsuki, Masatsugu, Kubota, Takashi, Morino, Yoshiki
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Sprache:eng
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Hopping (motion)
Motion simulation
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container_issue 5
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container_title Journal of robotics and mechatronics
container_volume 29
creator Sakamoto, Kosuke
Otsuki, Masatsugu
Kubota, Takashi
Morino, Yoshiki
description Various planetary terrains or asteroids, which are hard to traverse with wheeled platforms, are expected to be explored. Bekker’s model cannot be applied to estimate the motions of rovers without wheels, such as the hopping rover (hopper). In this paper, the resistive force theory (RFT) approach is introduced. This approach is not based on Bekker’s model, and is expected to apply to any platform. However, this RFT approach only applies to static or quasi-static motion, such as in the case of slow motions. To apply the RFT approach to dynamic motions, such as hopping, the effect of velocity as a dynamic variable is also studied. Through the hopping experiments, the effectiveness of RFT with the velocity-term approach is investigated and compared to the RFT approach.
doi_str_mv 10.20965/jrm.2017.p0895
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source Freely Accessible Japanese Titles - check A-Z of ejournals; DOAJ Directory of Open Access Journals; Elektronische Zeitschriftenbibliothek; J-STAGE
subjects Hopping (motion)
Motion simulation
title Hopping Motion Estimation on Soft Soil by Resistive Force Theory
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