NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
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Authors
Schmidt, Dennis Arvin
Subjects
Advisors
Zyda, Michael J.
Pratt, David R.
Date of Issue
1993-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
Format
78 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.