Müller, Jörg; Hiller, Manfred:

Modelling, Simulation and Nonlinear Control of a Combined Legged and Wheeled Vehicle

In: In Proceedings of the 13th CISM-IFToMM Symposium Ro.Man.Sy., 2000
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2000)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
During the design process of the walking robot ALDURO virtual prototyping is used to test the design studies in a computer simulation, where the different parts can be tested under various conditions. It is not suf£cient to have separate models of the mechanical, hydraulic and electronic subsystems. A single detailed mechatronic design approach that incorporates all subsystems, and their in¤uence on each other, is required. For the ALDURO conventional linear controllers do not provide satisfactory results due to the highly nonlinear kinematics and dynamics of the legs. Therefore a nonlinear control concept is under development using a detailed model of the mechanical structure and the method of the exact input/output linearization.