Publication:
A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine

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Authors
Lyman, Relle Lewis, Jr.
Subjects
Robotics
Walking machines
Adaptive suspension vehicles
Advisors
McGhee, Robert B.
Date of Issue
1987-06
Date
June 1987
Publisher
Monterey, California: U.S. Naval Postgraduate School
Language
en_US
Abstract
A new type of gait and steering algorithm for use by a six-legged walking machine is developed and presented in this study. The spatially oriented tripod follow-the-leader gait is an extension of previous studies of temporal follow-the­ leader gaits and should prove useful for all-terrain walking vehicles, such as the Adaptive Suspension Vehicle. Tractor-trailer style steering is introduced as an effort to tailor steering control for this type of gait. Both gait and steering algorithm are implemented on a color graphics computer simulation for study and comparison with other walking algorithms.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering
Other Units
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
NPS-52-87-023
Sponsors
Ohio State University Research Foundation
Funder
RF Project No. 716520 RF Purchase Order no. 496549
Format
175 p.: ill.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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