@article{LopezArreguinMontenegro2020,
  author    = {Lopez-Arreguin, A. J. R. and Montenegro, S.},
  title     = {Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers},
  series = {Heliyon},
  volume    = {6},
  journal   = {Heliyon},
  doi       = {10.1016/j.heliyon.2020.e04148},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-230309},
  year      = {2020},
  abstract  = {Dessert organisms like sandfish lizards (SLs) bend and generate thrust in granular mediums to scape heat and hunt for prey [1]. Further, SLs seems to have striking capabilities to swim in undulatory form keeping the same wavelength even in terrains with different volumetric densities, hence behaving as rigid bodies. This paper tries to recommend new research directions for planetary robotics, adapting principles of sand swimmers for improving robustness of surface exploration robots. First, we summarize previous efforts on bio-inspired hardware developed for granular terrains and accessing complex geological features. Later, a rigid wheel design has been proposed to imitate SLs locomotion capabilities. In order to derive the force models to predict performance of such bio-inspired mobility system, different approaches as RFT (Resistive Force Theory) and analytical terramechanics are introduced. Even in typical wheeled robots the slip and sinkage increase with time, the new design intends to imitate traversability capabilities of SLs, that seem to keep the same slip while displacing at subsurface levels.},
  language  = {en}
}
@article{LopezArreguinMontenegro2019,
  author    = {Lopez-Arreguin, A. J. R. and Montenegro, S.},
  title     = {Improving engineering models of terramechanics for planetary exploration},
  series = {Results in Engineering},
  volume    = {3},
  journal   = {Results in Engineering},
  doi       = {10.1016/j.rineng.2019.100027},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-202490},
  pages     = {100027},
  year      = {2019},
  abstract  = {This short letter proposes more consolidated explicit solutions for the forces and torques acting on typical rover wheels, that can be used as a method to determine their average mobility characteristics in planetary soils. The closed loop solutions stand in one of the verified methods, but at difference of the previous, observables are decoupled requiring a less amount of physical parameters to measure. As a result, we show that with knowledge of terrain properties, wheel driving performance rely in a single observable only. Because of their generality, the formulated equations established here can have further implications in autonomy and control of rovers or planetary soil characterization.},
  language  = {en}
}