DART: Dual-Axis Airborne Reachability-Gated Torque-Reaction for Off-Road Vehicle Jumps

Summary

arXiv:2607.29011v1 Announce Type: new Abstract: Traversing crests, ledges, and ditches at high speed often launches vehicles into the air, and a mishandled landing presents a substantial crash hazard. We show that the airborne phase is barely controllable: on a 1383 kg platform the wheel angular-momentum budget caps the recoverable pitch-rate change at roughly $9$-$13^\circ$/s in the tighter nose-up direction under drive at typical takeoff wheel speeds, and at about twice that in the reverse-inclusive braking direction; driving the wheels to their drivetrain hard limit raises the measured nose-up ceiling to only $16$-$18^\circ$/s. Takeoff pitch-rate disturbances beyond this directional budget are physically unrecoverable in flight, so the decisive leverage lies before takeoff.