Germann, Daniel; Franitza, Daniel; Hiller, Manfred:
Influence of the Nonholonomic Constraints on the Manoeuvrability of the Legged and Wheeled Vehicle ALDURO
In: Proceedings of the 5th International Conference on Climbing and Walking Robots CLAWAR 2002 - University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany, 2002
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Influence of the Nonholonomic Constraints on the Manoeuvrability of the Legged and Wheeled Vehicle ALDURO
Autor(in):
Germann, Daniel; Franitza, Daniel; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr:
2002
Erschienen in:
Proceedings of the 5th International Conference on Climbing and Walking Robots CLAWAR 2002 - University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany, 2002

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 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 simpli¯ed model. Classi¯cation 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.