Sohveiher y Bentkowsky and Kerr 



[D]" =[D] 



,th 



The forces on the i leg can be calculated: 



(X., Y.,Z.) 

 \ j_> j_. ^1 



X\ / v 



yA= [D]"^ ^ Yo 



Subscript V refers to vehicle axis systems, 



Xyj = Xy + Xj 



Yvi = Y, + Yj 



Zvi = Z, + Zj 



Also, 



X,i = u + qZj - rYj 

 Y,j = V - pZj + rXj 

 Z^i = w + pYj - qXj 



1148 



