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Wheel+legs - A new solution for traction enhancement without additive soil compaction

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5 Author(s)

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.

Published in:

IEEE Robotics & Automation Magazine  (Volume:4 ,  Issue: 4 )