Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Kinematic and stability motion limits for a hexapod walking machine

Thumbnail
Download
Icon95Mar_Dunton.pdf (2.770Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Dunton, Elizabeth Marie.
Date
1995-03
Advisor
McGhee, Robert B.
Zyda, Michael J.
Metadata
Show full item record
Abstract
The major problem addressed by this research is to investigate and implement the basic concepts necessary to lay the groundwork for efficient forms of motion planning, motion control, and gait algorithms with respect to hexapod walking machines. Specifically, the approach taken was to develop and implement the concepts of a stability margin and a joint space motion margin on an object-oriented representation of the Aquarobot. The model was generated in Franz Common Lisp and simulated via Allegro Common Windows. A method by which distance computations can be calculated and applied to the center of mass and triangular support pallem of a walking machine to determine the stability margin is introduced. Inverse kinematics and joint limits are utilized to ascertain the joint space motion margin of the model. Response to impending instability and the effect when ajoint hits or approaches ajoint kinematic limit on the motion of the hexapod walking machine by stopping the model is also addressed. The results are as follows: the concepts of the joint space motion margin and the stability margin can be successfully implemented on a kinematic model and graphical simulation of a hexapod walking machine. These concepts contribute to future work in the area of more efficient free gait algorithms, specifically asynchronous gait algorithms. (AN)
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/10945/31543
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Simulation of tripod gaits for a hexapod underwater walking machine 

    Schue, Charles Andrew, III (Monterey, California. Naval Postgraduate School, 1993-06);
    This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg ...
  • Thumbnail

    NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships 

    Schmidt, Dennis Arvin (Monterey, California. Naval Postgraduate School, 1993-06);
    This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg ...
  • Thumbnail

    Rule-Based Motion Coordination For the Adaptive Suspension Vehicle on Ternary-Type Terrain 

    McGhee, Robert B.; Kwak, Se-Hung (Monterey, California. Naval Postgraduate School, 1990-12); NPS-CS-91-006
    This study investigates the utility of rule based coordination of motion for ternary-type terrain locomotion by a hexapod walking machine. The ternary-type terrain considered is composed of permitted areas, forbidden areas, ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.