Influence of the Nonholonomic Constraints on the Ma- noeuvrability of the Legged and Wheeled Vehicle ALDURO
نویسندگان
چکیده
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 kinematic loops. The mobility of the system in uneven terrain is investigated using a simplified model. Classification into cases with either two or three degrees of freedom is made, and a condition for the latter is found. The geometrical interpretation is shown for this condition.
منابع مشابه
Manoeuvrability of the Legged and Wheeled Vehicle ALDURO in Uneven Terrain with Consideration of Nonholonomic Constraints
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. It is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which includes several closed kinematic l...
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