Kinematics, dynamics and control of a hy
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Michele Lacagnina; Giovanni Muscato; Rosario Sinatra
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Article
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2003
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Elsevier Science
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English
β 379 KB
In this paper, we propose a mathematical model for the kinematics of a hybrid robot, called Wheeleg. The wheeled-legged robot has two pneumatically actuated front legs, each with three degrees of freedom, and two rear wheels independently actuated. Based on the proposed model, the dynamics equations