Müller, Jörg; Schneider, Martin; Hiller, Manfred:
Modelling and Simulation of the Large-Scale Hydraulically Driven ALDURO
In: Proceedings of the Euronech 375: Biology and Technology of Walking. - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1998, S. 116 - 123
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Modelling and Simulation of the Large-Scale Hydraulically Driven ALDURO
Autor(in):
Müller, Jörg; Schneider, Martin; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr:
1998
Erschienen in:
Proceedings of the Euronech 375: Biology and Technology of Walking. - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1998, S. 116 - 123

Abstract:

A large scale combined legged and wheeled vehicle with anthropomorphic legs is prsented. This concept combines the advantagees of a walking machine with the stability of a wheeled vehicle. The leg utilises a spherical hip joint, a revolute knee joint and a passively pivoting foot. Due to the size of the system linear hydraulic actuators are used, and thus kinematic loops are created in the mechanism. this paper describes the closed-form recursive solution of the direct and the inverse kinematics, the statics for one leg and some results from computer simulations.