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Influence of the Non‐holonomic Constraints on the Legged and Wheeled Vehicle ALDURO
Author(s) -
Germann D.,
Lüscher M.,
Hiller M.
Publication year - 2002
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/1617-7061(200203)1:1<113::aid-pamm113>3.0.co;2-z
Subject(s) - holonomic , holonomic constraints , degrees of freedom (physics and chemistry) , computer science , control theory (sociology) , classical mechanics , physics , artificial intelligence , control (management) , quantum mechanics
The aim of this paper is to examine the influence of non‐holonomic constraints (the wheel‐ground contact) on the manoeuvrability of the walking vehicle ALDURO. A simplified two‐wheeled rigid model is developed. For this model classification into cases with two and with three degrees of freedom is made, and a geometric condition for the latter is found.