On 9 Oct 2015 at 16:43, Anthony Jackson wrote:

> Well, the active suspension will need to be bigger and more powerful
> if it's controlling bigger wheels, so there's a fair chance that
> it's even worse with active suspension. However, just cutting down
> the number and length of mechanical links can help, and there are
> control advantages to being able to apply force to each wheel
> separately, so one motor per wheel has likely benefits no matter
> what.

Truem, but that doesn't necessarily required having the motor *in*
the wheel.

I seem to recall Dean Ing once mentioning something about a sort of
"pressurized bellows" arrangment to efficiently move torque from a
motor to a wheel while allowing the wheel to be properly sprung.

I think the pressurization was at least partially as a warning
measure for wear. If the pressure starts dropping, it's time to
replace the "bellows".

--
Leonard Erickson (aka shadow)
shadow at shadowgard dot com