In Proceedings of the IEEE / ASME International Conference on Advanced
نویسنده
چکیده
| The system under investigation is the hydraulically driven autonomous large scale combined legged and wheeled vehicle ALDURO. In this paper two complete mechatronic simulation models, realized in the object-oriented programming language C++, will be presented. Both contain the mechanical system including an explicit solution of the kinematic loops. The rst model is used as a basis for a model based motion control of the walking machine. The second, more detailed model, also includes a model of the ground contact and the dynamics of the complete hydraulic system. It is used to test the model based controller.
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