Cart (Loading....) | Create Account
Close category search window
 

Omnidirectional supervisory control of a multilegged vehicle using periodic gaits

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lee, W.-J. ; AT&T, Princeton, NJ, USA ; Orin, D.E.

A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits. The vehicle model is chosen from a hexapod robot vehicle, named the Adaptive Suspension Vehicle, which is under development. To implement periodic gaits for omnidirectional control, the notion of the constrained working volume (CWV) is introduced on the basis of reachability of the leg and the kinetic maximum locomotion period is defined using the CWV. As a result, the leg touchdown and liftoff points are constrained within the CWV during vehicle locomotion. Based on this constraint, the foothold selection problem is addressed. The algorithm was developed through a computer graphics simulation; results of the simulations are discussed

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 6 )

Date of Publication:

Dec 1988

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.