23030
2020
eng
6
article
1
2021-03-10
--
--
Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers
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.
Heliyon
10.1016/j.heliyon.2020.e04148
urn:nbn:de:bvb:20-opus-230309
publish
Heliyon 6 (2020) e04148. https://doi.org/10.1016/j.heliyon.2020.e04148
true
true
CC BY-NC-ND: Creative-Commons-Lizenz: Namensnennung, Nicht kommerziell, Keine Bearbeitungen 4.0 International
A. J. R. Lopez-Arreguin
S. Montenegro
eng
uncontrolled
aerospace engineering
eng
uncontrolled
mechanical engineering
eng
uncontrolled
biomimetics
eng
uncontrolled
biomechanic
eng
uncontrolled
biomechanical engineering
eng
uncontrolled
mechanics
eng
uncontrolled
sandfish
eng
uncontrolled
granular
eng
uncontrolled
locomotion
eng
uncontrolled
slip
Informatik, Informationswissenschaft, allgemeine Werke
open_access
Institut für Informatik
Förderzeitraum 2020
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/23030/1-s2.0-S2405844020309920-main.pdf
20249
2019
eng
100027
3
article
1
2020-04-01
--
--
Improving engineering models of terramechanics for planetary exploration
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.
Results in Engineering
10.1016/j.rineng.2019.100027
urn:nbn:de:bvb:20-opus-202490
Results in Engineering (2019) 3:100027. https://doi.org/10.1016/j.rineng.2019.100027
false
true
CC BY-NC-ND: Creative-Commons-Lizenz: Namensnennung, Nicht kommerziell, Keine Bearbeitungen 4.0 International
A. J. R. Lopez-Arreguin
S. Montenegro
eng
uncontrolled
Wheel
eng
uncontrolled
Terramechanics
eng
uncontrolled
Forces
eng
uncontrolled
Torque
eng
uncontrolled
Robotics
Datenverarbeitung; Informatik
open_access
Institut für Informatik
Förderzeitraum 2019
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/20249/Lopez-Arreguin_ResultsInEngineering_2019.pdf