Steering characteristics of a rigid wheel for exploration on loose soil

Kazuya Yoshida, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

In this paper, steering characteristics of a rigid wheel (tire) on loose soil is investigated. Based on terra-mechanic analysis, the lateral force characteristics of a driving wheel is modeled as a function of slip ratio and slip angle. The model suggests that the lateral force decreases according to the increment of the slip ratio and increases according to the increment of the slip angle. Such characteristics are confirmed and evaluated by experiments using simulated lunar-surface soil, called Lunar Regolith Simulant. The proposed model is validated with the experimental results in reasonable precision. A model that properly predicts the lateral force will be useful for future practical issues, such as controlling the steering motion of a vehicle for following a desired trajectory in the operational phase, and also to compare the feasibility and/or stability of candidate steering maneuvers in the motion planning phase.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3995-4000
Number of pages6
Publication statusPublished - 2004 Dec 1
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Yoshida, K., & Ishigami, G. (2004). Steering characteristics of a rigid wheel for exploration on loose soil. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3995-4000). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).