Dynamic Modeling and Analysis of 9-DOF Omnidirectional Legged Vehicle

• 作 者: GAO Feng WANG Guofu CUI Ying Y
• 机 构: SchoolofTransportationScience＆Engineering
• 出 处: 中国机械工程学报
• 发表日期: 2011年4期
• 关键词: 车辆 动态建模 自由度 动力学方程 运动控制 Matlab 地面坡度 机械臂 legged vehicle omnidirectional motion ste
• 基金项目: supported by National Hi-tech Research and Development Program of China （863 Program, Grant No. 2007AA11Z244）

The omnidirectional legged vehicle with steering-rails has a specific mechanism feature, and it can be controlled flexibly and accurately in omnidirectional motion. Currently there lacks further research in this area. In this paper, the mechanical charact