Abstract
This paper presents the subsidence sensing using the grouser embed a function to measure reaction force from soil for wheels of unmanned ground vehicle (UGV). The wheels which traverse loose soil like lunar surface have the grousers like puddle. The grousers transfer the trust to the wheels or the body of rovers. Therefore, the grousers are needed to traverse loose soil for wheels of UAV. The interaction between the wheel with grousers and loose soil can be expressed using kinematic model. Moreover, when the wheel is traversing loose soil, the wheel sinks into soil. The inserting angle is needed to solve these problems. If we know the inserting angle, the sinkage can be measured before the poor condition. It is very important and effective to detect the inserting angle of the wheel. In this paper, we propose the grouser with a tactile sensor and describe the results given by experiments.
