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- W2159003705 abstract "This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable. The relationship of load-traction factor versus the slip ratio is modeled theoretically then verified by experiments, as well as specific parameters to characterize the soil are identified. A dynamic simulation model is developed considering the characteristics of wheel actuators, the mechanics of tire-soil traction, and the articulated body dynamics of a suspension mechanism. Simulations are carried out to be compared with the corresponding experimental data and verified to represent the physical behavior of a rover." @default.
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- W2159003705 date "2003-06-25" @default.
- W2159003705 modified "2023-10-03" @default.
- W2159003705 title "Motion dynamics of a rover with slip-based traction model" @default.
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- W2159003705 doi "https://doi.org/10.1109/robot.2002.1013712" @default.
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