Alberto Gallina

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Mobility analysis of wheeled rovers plays a fundamental role in planetary exploration. In particular , the study of the rover behavior on soft terrain has got high priority. A famous, but unfortunate, example of possible consequences when driving on soft soil is connected with the NASA Mars rover Spirit that after years of successful operation got stuck on(More)
A challenging topic in the field of planetary rover simulations is the modeling of the contact between the rover and its environment. Multibody simulation models are used to represent the kinematic structure of a wheeled rover, but its interface with the environment relies on sand-wheel contact dynamics. A new advanced contact model is presented and tuned(More)
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