RESEARCH PAPERS: Mechanisms Papers

Actively Coordinated Vehicle Systems

[+] Author and Article Information
V. Kumar

Department of Mechanical Engineering and Applied Mechanics, The University of Pennsylvania, Philadelphia, PA 19104

K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Mech., Trans., and Automation 111(2), 223-231 (Jun 01, 1989) (9 pages) doi:10.1115/1.3258987 History: Received September 01, 1988; Online November 19, 2009


The use of independent actuation of suspension and locomotion degrees of freedom offers significant potential for improved performance vehicles. In this paper, the mathematics of active coordination of such systems is explored. Two different, actively coordinated mobility system configurations are used as examples to elucidate the principles involved.

Copyright © 1989 by ASME
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