Romansy 13 pp 363-370 | Cite as

Modelling, Simulation and Nonlinear Control of a Combined Legged and Wheeled Vehicle

  • Jörg Müller
  • Manfred Hiller
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


During the design process of the walking robot ALDURO virtual prototyping is used to test the design studies in a computer simulation, where the different parts can be tested under various conditions. It is not sufficient to have separate models of the mechanical, hydraulic and electronic subsystems. A single detailed mechatronic design approach that incorporates all subsystems, and their influence on each other, is required. For the ALDURO conventional linear controllers do not provide satisfactory results due to the highly nonlinear kinematics and dynamics of the legs. Therefore a nonlinear control concept is under development using a detailed model of the mechanical structure and the method of the exact input/output linearization.


Multibody System Ground Plane Tangential Force Virtual Prototype Static Friction Force 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Jörg Müller
    • 1
  • Manfred Hiller
    • 1
  1. 1.Fachgebiet MechatronikGerhard-Mercator-Universität DuisburgDuisburgGermany

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