Simulation of Tripod Gaits for a Hexapod Underwater Walking Machine

Abstract

This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation. Robotics, Walking Machines, Kinematics, AquaRobot.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1993
Accession Number
ADA271719

Entities

People

  • Charles A. Schue Iii

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Basic Programming Language
  • Coast Guard
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Systems
  • Coordinate Systems
  • Dead Reckoning
  • Electrical Engineering
  • Joints (Anatomy)
  • Operating Systems
  • Programming Languages
  • Simulators
  • Three Dimensional
  • Two Dimensional

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy