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 / Fach: Maschinenbau
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.