Germann, Daniel; Lüscher, Matthias; Hiller, Manfred:

Influence of the Non-holonomic Constraints on the Legged and Wheeled Vehicle ALDURO

In: GAMM Jahrestagung
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2001), S. -
Buchaufsatz / Kapitel / Fach: Maschinenbau
The aim of this paper is to examine the in°uence of non-holonomic constraints (the wheel-ground contact) on the manoeuvrability of the walking vehicle ALDURO. A simpli¯ed two-wheeled rigid model is developed. For this model classi¯cation into cases with two and with three degrees of freedom is made, and a geometric condition for the latter is found.