In this paper we develop a model of a Linear Force Actuator based actively articulated suspension vehicle with toroidal wheels and propose a strategy to control its contact forces to improve traction on uneven terrain in 3-D while maintaining a desired posture. We develop the quasi-static analysis for our vehicle and compare the maneuverability of our vehicle with that of a passive suspension system. Extensive uneven terrain simulations depict the efficacy of our proposed system.
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