Terramechanics based traction control of underwater wheeled robot

Tjasa Boh; John Billingsley; Robin S. Bradbeer; Paul Hodgson

doi:10.1109/OCEANSSYD.2010.5603859

Terramechanics based traction control of underwater wheeled robot

Tjasa Boh
, John Billingsley
, Robin S. Bradbeer
, Paul Hodgson

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

4 Citations (Scopus)

Abstract

The Bekker Theory of Locomotion has long been the leading applied theory when it comes to calculating and predicting soil-tyre interaction for terrestrial wheeled and tracked vehicles. Whilst the theory is applicable for terrestrial systems, there is no evidence to suggest it also applies under water. Furthermore, the complications of measuring the required soil parameters in marine substratum makes it difficult to apply. This paper explores the slip-based approach to the Bekker theorem and suggests an experiment designed to validate this theorem for underwater applications. © 2010 IEEE.

Original language	English
Title of host publication	OCEANS'10 IEEE Sydney, OCEANSSYD 2010
DOIs	https://doi.org/10.1109/OCEANSSYD.2010.5603859
Publication status	Published - 2010
Event	OCEANS'10 IEEE Sydney, OCEANSSYD 2010 - Sydney, NSW, Australia Duration: 24 May 2010 → 27 May 2010

Publication series

Name	OCEANS'10 IEEE Sydney, OCEANSSYD 2010

Conference

Conference	OCEANS'10 IEEE Sydney, OCEANSSYD 2010
Place	Australia
City	Sydney, NSW
Period	24/05/10 → 27/05/10

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Access Output

10.1109/OCEANSSYD.2010.5603859

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{0695f112a92b4fe788ba6ce93f5e08c3,

title = "Terramechanics based traction control of underwater wheeled robot",

abstract = "The Bekker Theory of Locomotion has long been the leading applied theory when it comes to calculating and predicting soil-tyre interaction for terrestrial wheeled and tracked vehicles. Whilst the theory is applicable for terrestrial systems, there is no evidence to suggest it also applies under water. Furthermore, the complications of measuring the required soil parameters in marine substratum makes it difficult to apply. This paper explores the slip-based approach to the Bekker theorem and suggests an experiment designed to validate this theorem for underwater applications. {\textcopyright} 2010 IEEE.",

author = "Tjasa Boh and John Billingsley and Bradbeer, \{Robin S.\} and Paul Hodgson",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; OCEANS'10 IEEE Sydney, OCEANSSYD 2010 ; Conference date: 24-05-2010 Through 27-05-2010",

year = "2010",

doi = "10.1109/OCEANSSYD.2010.5603859",

language = "English",

isbn = "9781424452217",

series = "OCEANS'10 IEEE Sydney, OCEANSSYD 2010",

booktitle = "OCEANS'10 IEEE Sydney, OCEANSSYD 2010",

}

Terramechanics based traction control of underwater wheeled robot. / Boh, Tjasa; Billingsley, John; Bradbeer, Robin S. et al.
OCEANS'10 IEEE Sydney, OCEANSSYD 2010. 2010. 5603859 (OCEANS'10 IEEE Sydney, OCEANSSYD 2010).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Terramechanics based traction control of underwater wheeled robot

AU - Boh, Tjasa

AU - Billingsley, John

AU - Bradbeer, Robin S.

AU - Hodgson, Paul

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2010

Y1 - 2010

N2 - The Bekker Theory of Locomotion has long been the leading applied theory when it comes to calculating and predicting soil-tyre interaction for terrestrial wheeled and tracked vehicles. Whilst the theory is applicable for terrestrial systems, there is no evidence to suggest it also applies under water. Furthermore, the complications of measuring the required soil parameters in marine substratum makes it difficult to apply. This paper explores the slip-based approach to the Bekker theorem and suggests an experiment designed to validate this theorem for underwater applications. © 2010 IEEE.

AB - The Bekker Theory of Locomotion has long been the leading applied theory when it comes to calculating and predicting soil-tyre interaction for terrestrial wheeled and tracked vehicles. Whilst the theory is applicable for terrestrial systems, there is no evidence to suggest it also applies under water. Furthermore, the complications of measuring the required soil parameters in marine substratum makes it difficult to apply. This paper explores the slip-based approach to the Bekker theorem and suggests an experiment designed to validate this theorem for underwater applications. © 2010 IEEE.

UR - https://www.scopus.com/pages/publications/78349277316

UR - https://www.scopus.com/pages/publications/78349277316#tab=impact

U2 - 10.1109/OCEANSSYD.2010.5603859

DO - 10.1109/OCEANSSYD.2010.5603859

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781424452217

T3 - OCEANS'10 IEEE Sydney, OCEANSSYD 2010

BT - OCEANS'10 IEEE Sydney, OCEANSSYD 2010

T2 - OCEANS'10 IEEE Sydney, OCEANSSYD 2010

Y2 - 24 May 2010 through 27 May 2010

ER -

Terramechanics based traction control of underwater wheeled robot

Abstract

Publication series

Conference

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this