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.
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.
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