A Novel Model of Interaction Dynamics between Legged Robots and Deformable Terrain
Anthony Vanderkop,Navinda Kottege,Thierry Peynot,Peter Corke,Anthony Vanderkop,Navinda Kottege,Thierry Peynot,Peter Corke
Navigating natural environments with deformable terrain is a difficult challenge in robotics. Understanding the interaction dynamics between robots and such terrain is an important first step in enabling them to explore these environments. Terramechanics models are largely developed and tested on wheeled and tracked platforms, but with the advent of readily available lightweight legged robots, dev...
