Design of an energy optimal hydraulic concept for the large-scale combined legged and wheeled vehicle ALDURO
The system under investigation is the hydraulically driven autonomous large-scale combined legged and wheeled vehicle ALDURO. In this paper an overall mechatronic simulation model, realized in the object-oriented programming language C++, will be presented, consisting of the dynamics of the complete hydraulic system, of the mechanical system including an explicit solution of the kinematic loops and of a simple time-discrete control structure. Simulations of different walking patterns are used to find an optimal set of hydraulic components.
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