• Corpus ID: 15293191

Direct shear behaviour of dry, granular soils for low normal stress with application to lightweight robotic vehicle modelling

  title={Direct shear behaviour of dry, granular soils for low normal stress with application to lightweight robotic vehicle modelling},
  author={Carmine Senatore and Karl Iagnemma},
Modelling of soil shearing behaviour under wheeled or tracked vehicles requires the knowledge of three soil properties: cohesion, angle of i nternal friction, and shear modulus. For lightweight robots it is necessary to characterize the soil for small normal stress (<15kPa) while most of the data collected in the literature regards higher stress testing conditions. Soil failure at l ow stress may diverge from Mohr-Coulomb envelope invalidating the fundamental assumptions behind classical… 

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