Controlling the adaptive suspension vehicle

A description is given of the adaptive suspension vehicle (ASV), which is an experimental, six-legged walking vehicle, and its operation. The ASV software, which consists of more than 150000 lines of source code, is discussed. The application software is written in Pascal, and the operating system is written in PL/M and assembly language. The ASV software performs the following main duties: sensing, vehicle state determination, terrain modeling, motion planning, and stereo control.<
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