A Reduced-Order Mud Reaction Force Model for Robotic Foot-Mud Interactions

Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper presents a reduced-order mud reaction force model (MRF) for ro...

Full description

Saved in:
Bibliographic Details
Published in2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) pp. 1341 - 1346
Main Authors Chen, Xunjie, Yi, Jingang, Shan, Jerry
Format Conference Proceeding
LanguageEnglish
Published IEEE 15.07.2024
Subjects
Dynamics
Estimation
Force
Legged locomotion
Mechatronics
Reduced order systems
Water
Online AccessGet full text

Cover

More Information
Summary:Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper presents a reduced-order mud reaction force model (MRF) for robotic foot-mud interactions. We focus on vertical robot locomotion on mud and propose a visco-elasto-plastic analog to model the foot-mud interaction forces. Dynamic behaviors such as mud visco-elasticity, withdrawing cohesive suction, and yielding are explicitly discussed with the proposed model. Besides comparing with dry/wet granular materials, mud intrusion experiments are conducted to validate the force model. The dependency of the model parameter on water content and foot velocity is also studied to reveal in-depth model properties under various conditions.
ISSN:2159-6255
DOI:10.1109/AIM55361.2024.10637089