Manoeuvrability of the Legged and Wheeled Vehicle ALDURO in Uneven Terrain with Consideration of Nonholonomic Constraints
نویسندگان
چکیده
The system under investigation is the hydraulically driven large-scale combined legged and wheeled vehicle ALDURO. It combines the advantages of a walking machine with the stability and speed of a wheeled vehicle. It is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which includes several closed kinematic loops. The mobility of the system in uneven terrain is investigated using a simplified model.
منابع مشابه
Influence of the Nonholonomic Constraints on the Ma- noeuvrability of the Legged and Wheeled Vehicle ALDURO
The system under investigation is the hydraulically driven large-scale combined legged and wheeled vehicle ALDURO. It combines the advantages of a walking machine with the stability and speed of a wheeled vehicle and is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which also includes several closed kinema...
متن کاملInfluence of the Non-holonomic Constraints on the Legged and Wheeled Vehicle ALDURO
Figure 1: ALDURO ALDURO (Anthopomorphically Legged and Wheeled Duisburg Robot) is a four legged, hydraulically driven walking machine, powered by an internal combustion engine and steered by an on-board operator (Fig. 1). To combine the manoeuvrability of a walking machine with the speed and stability of a wheeled vehicle there is the option of exchanging the two hind feet with two wheels. The ...
متن کاملFree Gait Pattern Generator for the Quadruped Walking Robot ALDURO
The purpose of this paper is to give a short overview of the ongoing work of the combined four-legged and wheeled walking machine ALDURO with special consideration to gait generation in unstructured terrain.
متن کاملMotion Planning for the ATHLETE Rover with Reinforcement Learning
Legged locomotion is attractive because it can enable a robot to traverse far more varied terrain than a wheeled rover is capable of. In the context of planetary exploration, this is especially attractive as the sites of greatest scientific interest tend to be characterized by difficult terrain. For example, it would be extremely difficult for a wheeled rover to make its way into a lunar crater...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کامل