Figure 2 (IMAGE)

The Korea Advanced Institute of Science and Technology (KAIST)

Figure 2

Caption

Figure 2. Contact model definition. (A) The terrain model predicts a vertical component of a ground reaction force based on the intruder’s penetration depth and velocity. The calculation involves the developing granular cone beneath the intruder, as Aguilar et al. (27) proposed. (B) The surface contact between the intruder and the adjacent substrates is approximated as a point contact at the deepest point. The bulk tangential force from the substrates is assumed to be Coulomb friction. (C) The horizontal stroke resistive force model is introduced to simulate the reaction from the substrates when the intruder moves horizontally in the substrates. The force is computed based on the travel distance dHSR and the current penetration depth zt.

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KAIST Robotics & Artificial Intelligence Lab.

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