# 6AP wheel: A new transformable robotic wheel for traction force improvement and halting avoidance of a UGV on soft terrains

> Research article (Mechanics Based Design of Structures and Machines, 2020) · cited 11× · AI/ML

**Wikidata**: [openalex:W3082037955](https://www.wikidata.org/wiki/openalex:W3082037955)  
**Source**: https://4ort.xyz/entity/6ap-wheel-a-new-transformable-robotic-wheel-for-traction-force-improvement-and-halting-avoidance-of-a-ugv-on-soft-terrai