An Insight on Mud Behavior Upon Stepping
Simon Godon, Asko Ristolainen, Maarja Kruusmaa
Abstract
In this research we show a characterization of mud behavior under vertical stepping. We showed that mud stiffness can vary 45-fold and the energy spent to generate equivalent impulse can vary 2-fold depending on the mud water content, but also that stepping faster on mud leads to lower peak forces and higher energy consumption. Next, we showed that the peak force generated can be increased by 33% by changing the foot stiffness, but is reduced by 18% if stepping is repeated on the same spot. We then demonstrated how force control can be used to achieve identical force profiles on very different muds. These results will help to design mechanical parts or control strategies for legged robot locomotion on mud.
BibTeX
@inproceedings{ral2022_aninsightonmudbe,
title = {An Insight on Mud Behavior Upon Stepping},
author = {Simon Godon and Asko Ristolainen and Maarja Kruusmaa},
booktitle = {RA-L 2022},
year = {2022}
}