... axis.R1.3.6 Multi-Degree-of-Freedom VehiclesMulti-degree-of-freedom (MDOF) vehicles have multipledrive and steer motors. Different designs are possible. Forexample, HERMIES-III, a sophisticated ... San Diego, CA 9215 2-5 001 1101 Beal AvenueAnn Arbor, MI 48109 Ph.: (619) 55 3-3 672 Ann Arbor, MI 48109Ph.: (313) 76 3-1 560 Fax: (619) 55 3-6 188 Ph.: (313) 93 6-9 362Fax: (313) 94 4-1 113 Email: Everett@NOSC.MIL ... components inthe three-wheel configuration. (Adapted from [Holland, 1983].)Figure 1.13: A 4-degree-of-freedomvehicle platform can travel in alldirections, including sideways and diagonally. The...