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dc.contributor.advisorKanayama, Yutaka
dc.contributor.authorSchue, Charles Andrew, III
dc.dateJune 1993
dc.date.accessioned2014-03-26T23:23:29Z
dc.date.available2014-03-26T23:23:29Z
dc.date.issued1993-06
dc.identifier.urihttp://hdl.handle.net/10945/39841
dc.description.abstractThis 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 kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation.en_US
dc.description.urihttp://archive.org/details/simulationoftrip1094539841
dc.format.extent257 p.en_US
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.titleSimulation of tripod gaits for a hexapod underwater walking machineen_US
dc.typeThesisen_US
dc.contributor.secondreaderCristi, Roberto
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentDepartment of Electrical and Computer Engineering
dc.subject.authorRoboticsen_US
dc.subject.authorWalking machinesen_US
dc.subject.authorKinematicsen_US
dc.subject.authorAquaRoboten_US
dc.description.serviceLieutenant, United States Coast Guarden_US
etd.thesisdegree.nameM.S. in Electrical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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