{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T15:16:54Z","timestamp":1777735014484,"version":"3.51.4"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this interest has also shifted to different types of terrestrial applications such as in the agriculture, military, and rescue fields. The suspension can be designed so that, when the rover is on flat and horizontal ground, the weight is evenly distributed among the wheels; in this way, all wheels have the same traction capability and offer the same rolling resistance. As the operating conditions vary due to sloping ground, uneven ground surface, or different payload position, the weight distribution can undergo considerable variations. This type of suspension is statically determined with respect to weight, but it is indeterminate with respect to traction forces; the traction control system aims to avoid the wheels slippage. In this paper, the traction contribution that each wheel can provide, to overcome a step obstacle, is shown. Furthermore, the possibility of regulating the distribution of vertical loads among the wheels adopting a torsion spring, with adjustable preload, arranged between rocker and bogie, is evaluated. A suitable spring preload facilitates the initial phase of the obstacle overcoming if the rover advances with the bogie forward. Numerical simulations show that to increase the possibility of overcoming an obstacle it is sufficient for the spring preload to reduce the vertical load on the front wheel; in any case, a higher load variation would not be advisable as it could involves an excessive load difference among the wheels.<\/jats:p>","DOI":"10.1017\/s0263574723000656","type":"journal-article","created":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T10:12:06Z","timestamp":1685355126000},"page":"2915-2940","source":"Crossref","is-referenced-by-count":29,"title":["Theoretical study on a modified rocker-bogie suspension for robotic rovers"],"prefix":"10.1017","volume":"41","author":[{"given":"Chiara","family":"Cosenza","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vincenzo","family":"Niola","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefano","family":"Pagano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1165-4451","authenticated-orcid":false,"given":"Sergio","family":"Savino","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,5,29]]},"reference":[{"key":"S0263574723000656_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2005.1571187"},{"key":"S0263574723000656_ref9","unstructured":"[9] Eisen, H. 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Available at: https:\/\/www.hq.nasa.gov\/alsj\/\/MSFC-LRV.pdf."},{"key":"S0263574723000656_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(97)00053-5"},{"key":"S0263574723000656_ref10","unstructured":"[10] Ellery, A. , Patel, N. , Richter, L. , Bertrand, R. and Dalcomo, J. , Exomars rover chassis analysis & design. Proc. of \u2018The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - iSAIRAS\u2019, Munich, Germany, 5-8 September 2005 (ESA SP-603, August 2005) (2005)."},{"key":"S0263574723000656_ref13","volume-title":"4th IFToMM Italy Conference, Sept. 7-9, 2022, Napoli, Italy. Book: Advances in Italian Mechanism Science","author":"Nicolella","year":"2022"},{"key":"S0263574723000656_ref18","volume-title":"4th IFToMM Italy Conference. 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B. , USA patent n. 4,840,394: Available at: https:\/\/ntrs.nasa.gov\/citations\/19900007837."},{"key":"S0263574723000656_ref6","unstructured":"[6] Harrington, B. D. and Voorhees, C. , \u201cThe Challenges of Designing the Rocker-Bogie Suspension for the Mars Exploration Rover,\u201d Proceedings of 37th Aerospace Mechanisms Symposium, Johnson Space Center, May 19-21 (2004)."},{"key":"S0263574723000656_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419885696"},{"key":"S0263574723000656_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2012.01.001"},{"key":"S0263574723000656_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-1796-1"},{"key":"S0263574723000656_ref2","unstructured":"[2] https:\/\/patentimages.storage.googleapis.com\/5b\/28\/cc\/ddbc12499d99b7\/US4128137.pdf."},{"key":"S0263574723000656_ref12","first-page":"9","article-title":"Analysis method of climbing stairs with rocker-bogie mechanism","volume":"27","author":"Dongkyu","year":"2013","journal-title":"J. Mech. Sci. Technol."},{"key":"S0263574723000656_ref22","article-title":"Mars rover curiosity could rip its own wheels off to stay mobile","author":"Ackerman","year":"2021","journal-title":"IEEE Spect."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723000656","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,4]],"date-time":"2023-12-04T10:14:56Z","timestamp":1701684896000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723000656\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":24,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2023,10]]}},"alternative-id":["S0263574723000656"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723000656","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,5,29]]}}}