Quantitative Kinematic Performance Comparison of Reconfigurable Leg-wheeled Vehicles
نویسندگان
چکیده
The Leg-Wheel-Vehicle paradigm offers remarkable and diverse opportunities for creation of mobile and maneuverable terrestrial locomotion systems. However, this capability needs to be unlocked by careful design and control of the individual articulations, the sub-chains and the systems as a whole. Viewing leg-wheel vehicles as another class of parallelkinematic systems now facilitates the systematic application of the rich theory of Articulated Multi-body systems to quantitatively evaluate design and control of such systems.
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