Abstract
The use of variable configuration vehicles creates the possibility of direct control of the contact forces between the foot or wheel of a vehicle and the ground. That control is an important element of the coordination of practical walking machines. Control of the contact forces at each wheel is also attractive for wheeled vehicles. For example, the power consumed in driving such a vehicle is quite sensitive to wheel-ground conditions. In conditions of strict power budgets, as in planetary roving vehicles, it becomes attractive to attempt to minimize power consumption by optimizing the wheel-ground contact forces. Unfortunately, control of contact forces in a wheeled vehicle is very complex because of the non-holonomic nature of the system.
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