{"id":{"repo_id":"nps","oai_identifier":"oai:calhoun.nps.edu:10945/22693"},"canonical_url":"https://search.dev.ndltd.org/etd/nps/oai:calhoun.nps.edu:10945/22693","repository":{"repo_id":"nps","name":"Naval Postgraduate School","base_url":"https://calhoun.nps.edu/server/oai/request"},"display":{"title":"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. 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Both gait and steering algorithm are implemented on a color graphics computer simulation for study and comparison with other walking algorithms."]},{"key":"dc:title","label":"Title","values":["A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine"]}]}],"canonical_facts":{"dc:contributor.advisor":["McGhee, Robert B."],"dc:contributor.department":["Electrical and Computer Engineering"],"dc:creator":["Lyman, Relle Lewis, Jr."],"dc:date":["June 1987"],"dc:date.accessioned":["2012-11-27T00:28:12Z"],"dc:date.available":["2012-11-27T00:28:12Z"],"dc:date.issued":["1987-06"],"dc:description.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. 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