Title :
Interactive compute-control of a six-legged robot vehicle with optimization of stability, terrain adaptibility and energy
Author :
Orin, D.E. ; Mcghee, R.B. ; Jaswa, V.
Author_Institution :
The Ohio State University, Columbus, Ohio
Abstract :
A six-legged robot vehicle with eighteen independently powered joints has been constructed at Ohio State University. This paper describes design trade-offs and computer-control concepts as they relate to this machine. the structure of the computer software used for interactive real-time vehicle control is described in some detail. This software is organized so as to permit sequential on-line optimization of stability, tertain adaptability, and energy in the motion of the vehicle over unenev terrain.
Keywords :
Computer simulation; Control systems; Hip; Knee; Leg; Legged locomotion; Robots; Software; Stability; Vehicles;
Conference_Titel :
Decision and Control including the 15th Symposium on Adaptive Processes, 1976 IEEE Conference on
Conference_Location :
Clearwater, FL, USA
DOI :
10.1109/CDC.1976.267763