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dc.contributor.advisorMcGhee, Robert B.
dc.contributor.advisorZyda, Michael J.
dc.contributor.authorGoetz, John Robert
dc.dateMarch, 1994
dc.date.accessioned2013-04-26T18:59:51Z
dc.date.available2013-04-26T18:59:51Z
dc.date.issued1994
dc.identifier.urihttp://hdl.handle.net/10945/30911
dc.description.abstractThe area of concern addressed by this thesis is the development of a 3-D visual simulation to aid in the testing of ground detection and foot placement algorithms for an articulated walking robot's foot pads on uneven terrain. Several collision detection algorithms and terrain mapping techniques were studied to determine which approach would lend itself readily to the rapid detection of initial ground contact and the required orientation needed to place each foot firmly on the ground. As a result of these studies. a real-time, realistic and aesthetically pleasing graphical simulation for the testing of control software for articulated walking machines has been developed which utilizes the Silicon Graphics 3-D visual simulation toolkit, Performer. Not only is rapid ground contact sensing and foot orientation possible.. it is accomplished without using extraneous data structures making the algorithm generic enough to use on any terrain model.en_US
dc.description.urihttp://archive.org/details/graphicalsimulat1094530911
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.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.en_US
dc.titleGraphical simulation of articulated rigid body system kinematics with collision detectionen_US
dc.typeThesisen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentComputer Science
dc.subject.authorVisual Simulation, Robotics, Walking Machines, Aquarobot, Performeren_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameMaster of Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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