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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