Accession Number : ADA131449

Title :   An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.

Descriptive Note : Semi-annual technical rept. 1 Oct 82-31 Mar 83,


Personal Author(s) : McGhee,Robert B ; Waldron,Kenneth J

PDF Url : ADA131449

Report Date : Jul 1983

Pagination or Media Count : 300

Abstract : This report summarizes research accomplished during the third six-month period of this three-year project. The research is aimed at field testing of an experimental vehicle making use of actively-controlled suspension units. The current design concept envisages locomotion without the use of wheels or tracks, employing six active suspension elements, each providing support and propulsion analogously to a biological leg. This report describes a functioning breadboard leg and the associated vehicle frame. A scale model photograph is included to illustrate one candidate vehicle configuration. Electrical system research has produced a breadboard computing system containing thirteen single-board computers (Intel 86/30). Breadboard software has been validated in simulation. Fusion of optically-sensed range data with other types of sensor information to provide automatic vehicle guidance in rough-terrain locomotion has been demonstrated experimentally in a laboratory-scale hexapod walking machine. An extensive appendix provides full details regarding this result.

Descriptors :   *Robots, *Test vehicles, Offroad traffic, Mobility, Locomotion, Legs, Vehicle chassis components, Control systems, Computers, Guidance, Electrooptics, Robotics, Automata

Subject Categories : Computer Hardware
      Mfg & Industrial Eng & Control of Product Sys

Distribution Statement : APPROVED FOR PUBLIC RELEASE