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

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1987
Accession Number
ADA181995

Entities

People

  • Relle L. Lyman Jr

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computer Simulations
  • Computers
  • Control Panels
  • Control Systems
  • Coordinate Systems
  • Electrical Engineering
  • Engineering
  • Geometry
  • Graphics
  • Schools
  • Simulations
  • Three Dimensional
  • Two Dimensional
  • United States
  • United States Naval Academy

Readers

  • Robotics and Automation.