A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine

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 algorithm are implemented on a color graphics computer simulation for study and comparison with other walking algorithms.

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Monterey, California: U.S. Naval Postgraduate School

Year dc:date.issued

1987

Author dc:creator

• Lyman, Relle Lewis, Jr.

Advisor dc:contributor.advisor

• McGhee, Robert B.

Statement dc:rights

• This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.

Language dc:language.iso

en_US

Handle dc:identifier.uri

https://hdl.handle.net/10945/22693

OAI identifier oai:identifier

oai:calhoun.nps.edu:10945/22693