Wheel+legs - A new solution for traction enhancement without additive soil compaction

Wheel+legs - A new solution for traction enhancement without additive soil compaction

This paper presents the tractive performance of a one-wheeled vehicle equipped with a rotative leg appendage. Traction tests of the vehicle are performed and the maximum coefficient of traction is determined. Tests to measure the pressure distribution created by the legs on a soil bin are conducted...

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Veröffentlicht in:IEEE robotics & automation magazine 1997-12, Vol.4 (4), p.26-33
Hauptverfasser: Maza, M., Fontaine, J.G., Gonzalez de Santos, P., Papantoniou, V., Mas, M.
Format: Artikel
Sprache:eng
Schlagworte:
Agricultural machinery
Animals
Compaction
Leg
Mobile robots
Robotics and automation
Soil
Testing
Vehicles
Wheels
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Beschreibung
Zusammenfassung:This paper presents the tractive performance of a one-wheeled vehicle equipped with a rotative leg appendage. Traction tests of the vehicle are performed and the maximum coefficient of traction is determined. Tests to measure the pressure distribution created by the legs on a soil bin are conducted to illustrate traction enhancement.
ISSN:1070-9932
1558-223X
DOI:10.1109/100.637803