> For the complete documentation index, see [llms.txt](https://2024.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2024.istvs.org/submissions/papers/0906.md). # 0906 / Experimental Investigation Of Increased Bearing Capacity When Imparting Vibration To Loose Ground In Low Atmospheric Pressure ## Authors Tomohiro Watanabe and Kojiro Iizuka {% hint style="info" %} Paper presented at ISTVS 2024 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS\ Keywords: Loose soil; Bearing capacity; Vibration; Rovers for planetary exploration\ {% endhint %} ## Abstract Recently, legged robots have attracted considerable attention as highly mobile rovers for planetary exploration. However, the surfaces of celestial bodies such as Mars and the Moon are primarily loose, causing slippage due to surface deformation from the rover’s leg movements. To mitigate this, we proposed a walking method aimed at preventing slippage. In our previous study, we evaluated the effectiveness of this method using a legged testbed on sloped, loose ground. The results demonstrated improved mobility performance of the legged rover. It is crucial to investigate the increase in bearing capacity by imparting vibration in a realistic space environment to validate the effectiveness of the proposed method. This study examines the change in bearing capacity due to vibration under low atmospheric pressure, a condition found on Mars and the Moon. This condition affects the characteristics of ground sand due to decreased air resistance. Our findings provide valuable insights into using vibration in planetary exploration to enhance the performance of legged rovers. The experimental results indicate that the bearing capacity under low atmospheric pressure is nearly identical to that under standard atmospheric pressure, suggesting that atmospheric pressure conditions have minimal impact on the supporting force when vibration is applied. *** Full paper purchase: \ ISTVS members receive three complimentary papers per year: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://2024.istvs.org/submissions/papers/0906.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.