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

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.