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.


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    Titel :

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


    Beteiligte:
    R. L. Lyman (Autor:in)

    Erscheinungsdatum :

    1987


    Format / Umfang :

    177 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





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