Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. Engineering sketches of the Mini Rover.
  • Fig. S2. Diagram of rover appendage actuations.
  • Fig. S3. Granular experimentation bed and gantry.
  • Fig. S4. Mini Rover RS gait velocity and sinkage profiles.
  • Fig. S5. Dynamic reconfiguration with the RRP gait on various slopes.
  • Legends for movies S1 to S9

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). RP15 climbs granular mound with the RS gait.
  • Movie S2 (.mp4 format). Mini Rover using RS gait on a flat poppy seed bed.
  • Movie S3 (.mp4 format). Mini Rover RS gait trial in granular experimentation bed.
  • Movie S4 (.mp4 format). Single-wheel gantry trial of spin and sweep motion.
  • Movie S5 (.mp4 format). Mini Rover RS gait trial measurement of drawbar force.
  • Movie S6 (.mp4 format). Drawbar force measurements of RP15 prototype rover.
  • Movie S7 (.mp4 format). Mini Rover RS gait drawbar force measurement in wet sand bed.
  • Movie S8 (.mp4 format). Mini Rover RRP gait on sloped poppy seed bed.
  • Movie S9 (.mp4 format). Comparison of Mini Rover RRP gait with wheel spin enabled versus disabled.

Files in this Data Supplement: