Table 3 Phase relations of motors
From: Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform
Motor | Motor I | Motor II | Motor III |
|---|---|---|---|
Legged mode | θ0 | θ0 + 90° | 0° |
Wheeled mode | 0° | 90° | 90° |
From: Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform
Motor | Motor I | Motor II | Motor III |
|---|---|---|---|
Legged mode | θ0 | θ0 + 90° | 0° |
Wheeled mode | 0° | 90° | 90° |