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Interactive compute-control of a six-legged robot vehicle with optimization of stability, terrain adaptibility and energy

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3 Author(s)
Orin, D.E. ; The Ohio State University, Columbus, Ohio ; Mcghee, R.B. ; Jaswa, V.C.

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.

Published in:

Decision and Control including the 15th Symposium on Adaptive Processes, 1976 IEEE Conference on

Date of Conference:

1-3 Dec. 1976

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