Accession Number : ADA181995

Title :   A Computer Simulation Study of Tripod Follow-The-Leader Gait Coordination for a Hexapod Walking Machine.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Lyman,Relle L , Jr

PDF Url : ADA181995

Report Date : Jan 1987

Pagination or Media Count : 177

Abstract : A new type of gait and steering algorithm for use by a six-legged walking machine is developed and presented in this study. The spatially oriented tripod follow-the-leader gait is an extension of previous studies of temporal follow-the-leader gaits, and should prove useful for all-terrain walking vehicles, such as the Adaptive Suspension Vehicle. Tractor-trailer style steering is introduced as an effort to tailor steering control for this type of gait. Both gait and steering algorithms are implemented on a color graphics computer simulation for study and comparison with other walking algorithms.

Descriptors :   *VEHICLES, *COMPUTERIZED SIMULATION, *ALGORITHMS, *ROBOTICS, CONTROL, STEERING, SUSPENSION DEVICES, TERRAIN, WALKING, COLORS, COMPUTER GRAPHICS, ADAPTIVE SYSTEMS, LAND TRANSPORTATION, MAN COMPUTER INTERFACE, SUPPORTS, MOBILITY, CARGO VEHICLES, THESES

Subject Categories : Cybernetics
      Surface Transportation and Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE