英文翻译外文文献翻译164.docVIP

附 录 A Fifth Motion and Vibration Conference, MOVIC 2000, Sydney, Australia, 4. - 8. December 2000 ? by University of Technology, Sydney SPEED-ADAPTED TRAJECTORIES IN THE CASE OF INSUFFICIENT YDRAULIC RESSURE FOR THE FOUR-LEGGED LARGE-SCALE WALKING VEHICLE ALDURO Daniel Germann, J?org M?uller and Manfred Hiller Gerhard-Mercator-Universit?at {GH Duisburg Fachgebiet Mechatronik, Lotharstra?e 1, 47057 Duisburg, Germany Email: fgermann, mueller, hillerg@mechatronik.uni-duisburg.de ABSTRACT When operating walking machines, only a coordinated movement of all cylinders and/or motors can lead to safe, stable walking. The large hydraulically driven walking machine ALDURO, which is investigated in this paper, has no external power supply, and therefore the size of the on-board hydraulic power pack and its diesel engine is limited by its weight. When moving several cylinders with high speed, the hydraulic supply can become insufficient and the resulting trajectories of feet and platform can become unpredictable. When the ALDURO is near its stability limit such behaviour can lead to instability and toppling of the system. The proposed solution under discussion here is to observe the position errors and time derivatives for the cylinders and based on this reduce the speed when necessary. INTRODUCTION The system investigated in this paper is the Anthropomorphically Legged and Wheeled Duisburg Robot (ALDURO). It consists of a platform of 2.0m by 2.2m with a cabin for the operator and four legs, each 1.8m long. The estimated weight is 1200 kg. It can be used as a quadruped walking machine (Fig. 2), and by replacing the two hind feet with wheels, it can also be used as a combined legged and wheeled vehicle (Fig. 1). The latter combines the advantages of a walking machine - high mobility - with the stability and speed of wheeled vehicles [2]. When operating in steep and dangerous terrain, safety plays an important role. It must be guaranteed that the cylinders follow the calc ulated