Influence of the Non-holonomic Constraints on the Legged and Wheeled Vehicle ALDURO
نویسندگان
چکیده
Figure 1: ALDURO ALDURO (Anthopomorphically Legged and Wheeled Duisburg Robot) is a four legged, hydraulically driven walking machine, powered by an internal combustion engine and steered by an on-board operator (Fig. 1). To combine the manoeuvrability of a walking machine with the speed and stability of a wheeled vehicle there is the option of exchanging the two hind feet with two wheels. The system is quite complex with 16 hydraulic actuators and 10–12 degrees of freedom (d.o.f.). Therefore the implication of the wheel-ground contact on the manoeuvrability of ALDURO is investigated using a simplified model. A 1:1 scale prototype of the 1.5 tonne ALDURO is expected to be finished early in 2002.
منابع مشابه
Influence of the Nonholonomic Constraints on the Ma- noeuvrability of the Legged and Wheeled Vehicle ALDURO
The system under investigation is the hydraulically driven large-scale combined legged and wheeled vehicle ALDURO. It combines the advantages of a walking machine with the stability and speed of a wheeled vehicle and is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which also includes several closed kinema...
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