Development and testing of a hybrid WhegTM-mobile platform for autonomous surf-zone operations
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Mobility Over Non-Trivial Terrain (MONTe) is a hybrid (wheel-leg) WhegTM-mobile platform created for two purposes. The first purpose is to verify the simulated benefits of adapting previous six-legged Wheg robotic platforms to a four-legged Wheg amphibious design with a tail. The second purpose is to provide a platform to continue autonomous design and testing in the amphibious environment. In addition, the challenges of previous NPS surf-zone designs are investigated as well as the new challenges of making an amphibious platform to include the following: suspension system, drivetrain, tail integration, environmental control for subsystems, power distribution system and water-borne operation.
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