Fig. 12
From: Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism
Thrusts generated in rotational paddling mode. Measured thrusts in a x-direction and in b y-direction with eccentric distances between the paddle-shaft and the wheel center varying from 0 to 50 mm and the wheel rotates at 50 rpm along the direction. The number on the line indicates the eccentric distance in millimeter (mm)