An experimental comparison of CLOS and C++ implementations of an object-oriented graphical simulation of walking robot kinematics.
Davidson, Sandra Lynne
McGhee, Robert B.
Titus, Harold A.
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The ability to conduct research in the robotic field in new areas can be accomplished safely and efficiently using computer graphic simulation. Object-oriented languages provide a powerful and flexible capability in defining rigid body manipulators that can be adapted in the use and design of many types of systems. The very nature of object-oriented programming permits modification and improvement of the code with ease. This thesis examines the major capabilities of object-oriented programming in conjunction with kinematics equations that simulate a six-legged walking robot. A comparison is conducted between programs using CLOS (LISP) and C++ to graphically simulate the Aquarobot - an existing underwater walking robot. It is found that both languages are effective, but CLOS programming is easier while C++ code executes more than twice as fast as compiled CLOS.
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