An Experimental Comparison of CLOS and C++ Implementations of An Object- Oriented Graphical Simulation of Walking Robot Kinematics

Abstract

The ability to conduct research in the robotic field in new areas can be accomplished safely and efficiently using computer graphic simulation. Object-oriented languages provide a powerful and flexible capability in defining rigid body manipulators that can be adapted in the use and design of many types of systems. The very nature of object-oriented programming permits modification and improvement of the code with ease. This thesis examines the major capabilities of object-oriented programming in conjunction with kinematic equations that simulate a six-legged walking robot. A comparison is conducted between programs using CLOS (LISP) and C + + to graphically simulate the Aquarobot - an existing underwater walking robot. It is found that both languages are effective, but CLOS programming is easier while C + + code executes more than twice as fast as compiled CLOS.

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Document Details

Document Type
Technical Report
Publication Date
Mar 25, 1993
Accession Number
ADA267168

Entities

People

  • Sandra L. Davidson

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Complex Systems
  • Computer Languages
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Systems
  • Coordinate Systems
  • Debugging
  • Electrical Engineering
  • Engineering
  • Lisp Programming Language
  • Object Oriented Programming
  • Programming Languages
  • Remotely Piloted Vehicles
  • United States Naval Academy

Fields of Study

  • Computer science
  • Engineering

Readers

  • Computer Science.
  • Parallel and Distributed Computing.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy