A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine
Lyman, Relle Lewis, Jr.
McGhee, Robert B.
MetadataShow full item record
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.
RightsThis 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 NumberNPS-52-87-023
Showing items related by title, author, creator and subject.
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 ...
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, ...
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 ...