A computer simulation of vehicle and actuator dynamics for a hexapod walking robot
Kristiansen, Karl Johann Ragnar Wrussell
McGhee, Robert B.
MetadataShow full item record
Underwater walking machines offer a potential for replacement of human divers in certain aspects of underwater construction and inspection. One such vehicle, Aquarobot, is currently under test in Japan. However, this vehicle is currently too slow to be economically utilized, and limited hardware availability restricts progress in control software improvements. A software dynamic simulation model is desirable to relieve this restricted access. The problem addressed by this research is the modeling of system dynamics of underwater walking vehicles with sufficient simplification to achieve a real- time simulation. The approach taken includes an object-oriented, massless leg robot dynamic model and employs a high performance graphics rendering toolkit. The resulting simulations of a robotic joint actuator and of the robot itself, utilizing springs and dampers in the joints, runs in real-time. The robot simulation model executes on a four-processor machine with under fifteen percent utilization of the processor dedicated to system dynamics. This result indicates that the simulation is likely to retain real-time capability after replacing the springs and dampers with the more accurate joint actuator model also developed in this thesis
Showing items related by title, author, creator and subject.
Shirasaka, Masahide (Monterey, California. Naval Postgraduate School, 1994-09);There are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle's navigation is determined by ...
LaPointe, Cara E. G. (Monterey California. Naval Postgraduate School, 2006-06);This thesis presents a simulation of autonomous underwater vehicle navigation using a single transponder to create a virtual long baseline (VLBL). Similarly to LBL systems, ranges in a VLBL are calculated between the vehicle ...
Lovaszy, Steven Andrew (Monterey, California. Naval Postgraduate School, 1996-09);The US Army is currently developing a new variant of the Bradley Fighting Vehicle the M2A3 also known as the BFVS-A3. The new vehicle will include a number of modifications to the current M2A2 vehicle as a result of combat ...