Abstract:

A large scale combined legged and wheeled vehicle with anthropomorphic legs is prsented. This concept combines the advantagees of a walking machine with the stability of a wheeled vehicle. The leg utilises a spherical hip joint, a revolute knee joint and a passively pivoting foot. Due to the size of the system linear hydraulic actuators are used, and thus kinematic loops are created in the mechanism. this paper describes the closed-form recursive solution of the direct and the inverse kinematics, the statics for one leg and some results from computer simulations.