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

Download
Author
Lyman, Relle Lewis, Jr.
Date
1987-06Advisor
McGhee, Robert B.
Second Reader
Cristi, Roberto
Metadata
Show full item recordAbstract
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.
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.NPS Report Number
NPS-52-87-023Collections
Related items
Showing items related by title, author, creator and subject.
-
Development of a Hexapod Laser–Based Metrology Systems for a Finer Optical Beam Control
Chen, H.; Hospodar, E. Jr.; Agrawal, B.N. (2004);Free-Space Optical Communications requires stable and precise pointing on spacecraft to maintain optimal operating condition. One technology to achieve high precision pointing and steering for imaging or laser communication ... -
Coordinated steering of a surface ship.
Lee, Sang Sik (1987-09);The conventional approach to ship steering is to regard the ship as a single input, single output system without cross-coupling or interaction between speed, yaw and roll. This approach has found successful application, ... -
Definition of the mean environmental steering flow for TCM-90 tropical cyclones
Bohner, Richard H., Jr. (Monterey, California. Naval Postgraduate School, 1992-09);A definition for the environmental steering flow in the vicinity of the TCM-90 tropical cyclones is sought by low-pass filtering the Naval Operational Global Atmospheric Prediction System deep-layer mean u- and v- velocity ...