Static Balancing of Articulated Wheeled Vehicles by Parallelogram- and Spring-Based Compensation

Articulated wheeled vehicles (AWVs) offer superior uneven terrain traversal capabilities by virtue of the superior reconfigurability within their articulated structure. However, this capability can be realized only at the price of increased actuation-based equilibration, oftentimes solely to support the gravitational loading. Hence, the simultaneous reduction of the overall actuation remains one of the critical challenges in such AWVs.

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