Influence of the non-holonomic constraints on the manoeuvrability of the legged and wheeled vehicle ALDURO

摘要

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 kinematic loops. The mobility of the system in uneven terrain is investigated using a simplified model. Classification into cases with either two or three degrees of freedom is made, and a condition for the latter is found. The geometrical interpretation is shown for this condition.