Rule-based motion coordination for the adaptive suspension vehicle
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Authors
McGhee, Robert B.
Kwak, Sehung
Subjects
Robotics
Walking machines
Adaptive Suspension Vehicle
Robot Motion Planning
Rule-based systems
Walking machines
Adaptive Suspension Vehicle
Robot Motion Planning
Rule-based systems
Advisors
Date of Issue
1988-05
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
eng
Abstract
This study investigates the utility of rule-based coordination of motion for rough-terrain locomotion by a hexapod walking machine. The logic for generating leg commands is written in Prolog while the simulation of the terrain and of the vehicle kinematics, as well as low lev3el on-board computer functions, are written in extended Common Lisp. It is found that this approach results in code that is much easier to understand and modify than previous motion coordination programs written in Pascal. The authors believe that both the methodology and the stepping logic presented in this report possess sufficient merit to justify full-scale physical testing in the Adaptive Suspension Vehicle operated under DARPA contract by Ohio State University
Type
Technical Report
Description
Series/Report No
Department
Computer Science
Identifiers
NPS Report Number
NPS52-88-011
Sponsors
research sponsored in part by contract from the
Ohio State University Research Foundation under RF Project No. 716520.
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.