Analysis of the normal bearing capacity of the terrain in case of foot-terrain interaction based on Terzaghi theory

This paper deals with the interaction forces between robotic foot and the soft terrain, in conjunction with the Terzaghi theory. To date, some basic assumptions and conclusions for Terzaghi theory are analyzed. Terzaghi is recognized as a popular option to predict the bearing capacity of the terrain with upper structures. In this paper, static models in Terzaghi theory and its extended versions are built and simulations are performed. Normal contacting experiments of the monopod on soft terrain are carried out, and the relative motion parameters are measured by 6 axis F/T sensors. In the final part, the combined dynamic model of predicting the bearing capacity is proposed and verified as a reliable model for future applications.