Hiller, Manfred; Germann, D.:

Manoeuvrability of the legged and wheeled vehicle ALDURO in uneven terrain with consideration of nonholonomic constraints. Manövrierbarkeit des mit Beinen und Rädern versehenen ALDURO-Fahrzeugs in unebenem Gelände mit Berücksichtigung nicht-holonomer Beschränkungen.

In: ISOM, Advanced Driving Systems, Innovative Antriebssysteme, 2002
Universität Duisburg, DE (2002), S. 315-325
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
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 loops. The mobility of the system in uneven terrain is investigated using a simplified model.

Dieser Eintrag ist freigegeben.