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 / Fach: Maschinenbau
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.