# Theoretical Dynamics Modeling of Pitch Motion and Obstacle-Crossing Capability Analysis for Articulated Tracked Vehicles Based on Myriapod Locomotion Mechanism

## TL;DR

This paper models how articulated tracked vehicles can mimic myriapod movement to improve obstacle-crossing abilities.

## Contribution

A new dynamic model and pressure distribution method for articulated tracked vehicles based on myriapod locomotion is proposed.

## Key findings

- The front unit provides primary traction during pitch-up, while the rear unit dominates during pitch-down and acceleration.
- Adjusting pitch attitude increased the maximum surmountable vertical-wall height by 125.45%.
- The traction distribution pattern matches the anterior-guidance and posterior-propulsion mechanism in myriapods.

## Abstract

Myriapods achieve remarkable obstacle-crossing capability through inter-segment pitch adjustment and coordinated anterior–posterior propulsion, providing valuable biomimetic inspiration for engineering design. Articulated tracked vehicles, connecting front and rear units via pitch mechanisms, exhibit functional similarity to myriapod body segments. This study develops a comprehensive dynamic model for articulated tracked vehicle pitch motion to reveal its biomimetic connection with myriapod locomotion. A quadratic-function-based non-uniform track–ground contact pressure distribution method with zero-gradient boundary conditions is proposed, effectively eliminating the non-physical negative pressure issue inherent in traditional assumptions. Systematic analyses reveal that the front unit provides primary traction under pitch-up conditions, forming a front-pulling-rear driving mode, while the rear unit dominates under pitch-down and acceleration conditions, forming a rear-pushing-front driving mode. Through pitch attitude adjustment, the maximum surmountable vertical-wall height increased from 263 to 593 mm, representing a 125.45% improvement. This traction distribution pattern closely matches the anterior-guidance and posterior-propulsion mechanism observed in myriapod locomotion. This study quantitatively validates the functional analogy between articulated tracked vehicle pitch dynamics and myriapod inter-segment coordination, providing theoretical foundations for bio-inspired tracked vehicle design.