An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 01, 1983
- Accession Number
- ADA131449
Entities
People
- Kenneth J. Waldron
- Robert B. Mcghee
Organizations
- Ohio State University