An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.
Abstract
This research is concerned with computer control of terrain-adaptive suspension systems for off-road vehicles. A small-scale laboratory model walking machine has demonstrated an ability to overcome sizeable obstacles by varying limb cycles to conform to terrain. This action is achieved through the use of feedback from ground-reaction force transducers mounted at the end of each of its six legs operating in conjunction with body attitude sensing from a vertical gyro. A preliminary design of a larger vehicle suitable for outdoor testing has been completed. This vehicle will use an optical radar system to obtain terrain preview information in order to increase permissible speed of motion in rough-terrain locomotion. Power will be distributed hydraulically under computer control using an internal combustion engine as a prime mover. A human operator will ride in the vehicle cab, and will provide steering and speed commands via controls similar to those used in aircraft. This report includes a definition of six distinct operational modes for this vehicle, corresponding to differing terrain types and various mission objectives.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 1983
- Accession Number
- ADA125466
Entities
People
- Kenneth J. Waldron
- Robert B. Mcghee
Organizations
- Ohio State University