2026· PROCEEDINGS 13th International Conference IcETRAN· pp. 192-196· 0 citations
TL;DR
A quasi-static analytical model for normal force distribution in a skid-steering mobile robot operating on uneven terrain, based on equilibrium equations, that provides explicit expressions for normal forces as functions of terrain and system parameters is presented.
Abstract
This paper presents a quasi-static analytical model for normal force distribution in a skid-steering mobile robot operating on uneven terrain. The model accounts for terrain inclination through pitch and roll angles, enabling the analysis of load transfer between wheels. In addition, interaction forces arising from wire connections are incorporated, extending the formulation to physically connected multi-robot systems. Unlike conventional models that consider isolated robots, the proposed approach captures internal coupling effects introduced by flexible links. The model is based on equilibrium equations and provides explicit expressions for normal forces as functions of terrain and system parameters. The formulation is particularly suitable for systems such as RoboShepherd and provides a foundation for further dynamic analysis and control design in off-road multi-robot applications.
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