Title :
Wheel+legs - A new solution for traction enhancement without additive soil compaction
Author :
Maza, M. ; Fontaine, J.G. ; Gonzalez de Santos, P. ; Papantoniou, V. ; Mas, M.
Author_Institution :
RIGUAL, Huesca, Spain
Abstract :
This paper presents the tractive performance of a one-wheeled vehicle equipped with a rotative leg appendage. Traction tests of the vehicle are performed and the maximum coefficient of traction is determined. Tests to measure the pressure distribution created by the legs on a soil bin are conducted to illustrate traction enhancement.
Keywords :
agriculture; legged locomotion; traction; vehicles; agriculture; one-wheeled vehicle; pressure distribution; rotative leg appendage; soil compaction; traction enhancement; Agricultural machinery; Animals; Compaction; Leg; Mobile robots; Robotics and automation; Soil; Testing; Vehicles; Wheels;
Journal_Title :
Robotics & Automation Magazine, IEEE
