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

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Author
Lyman, Relle Lewis, Jr.
Date
1987-06
Advisor
McGhee, Robert B.
Second Reader
Cristi, Roberto
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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.
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.
URI
http://hdl.handle.net/10945/22693
NPS Report Number
NPS-52-87-023
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  • 1. Thesis and Dissertation Collection, all items

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