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Table 2 Soil parameters

From: Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism

Parameters Unit Value
Cohesion stress c Pa 400
Soil friction angle \(\phi\) deg 38.1
Soil specific weight \(\gamma\) \(\hbox {kg/m}^3\) 1480
Adhesion stress \(c_a\) Pa 66
Lug–soil friction angle \(\delta\) deg 10.4