Configuration Design of the Adaptive Suspension Vehicle

@article{Waldron1984ConfigurationDO,
  title={Configuration Design of the Adaptive Suspension Vehicle},
  author={Kenneth J. Waldron and Vincent J. Vohnout and Arrie Pery and Robert B. McGhee},
  journal={The International Journal of Robotics Research},
  year={1984},
  volume={3},
  pages={37 - 48}
}
The selection of vehicle and leg configuration and of power transmission and actuation system configuration for the adaptive suspension vehicle (ASV) are discussed. The ASV will be a proof-of-concept prototype of a proposed class of transportation vehicles for use in terrain that is not passable for conventional vehicles. It uses a legged locomotion princi ple. The machine will not be an autonomous "robot, " in the sense that it will carry an operator. It will, however, have a very high level… 
View on SAGE
191 Citations
Highly Influential Citations
3
Background Citations
40
Methods Citations
8
Results Citations
1

Figures from this paper

191 Citations

Citation Type

Citation Type

Power System of a Multi-Legged Walking Vehicle
TLDR
Detailed analytical and simulation models are developed for the vehicle power system consisting of the prime mover, energy storage system, mechanical drives, hydraulic actuation systems and the control systems.
Overview of the features of a legged locomotion system for unstructured environments
Abstract This paper reviews the important features of a six legged walking robot relevant to an unstructured automation environment. The robot, Adaptive Suspension Vehicle (Fig. 1), was developed at…
Omnidirectional supervisory control of a multilegged vehicle using periodic gaits
TLDR
A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits using a hexapod robot vehicle, named the Adaptive Suspension Vehicle, under development.
Design and Configuration of a Hexapod Walking Robot
This paper introduces the design and control system of a hexapod walking robot. The robot is developed based on a previous version which is focused on the straight-line walking. To enhance its…
The adaptive suspension vehicle
This paper provides a description of the Adaptive Suspension Vehicle. The vehicle uses a legged, rather than a wheeled or tracked, locomotion principle, and is intended to demonstrate the feasibility…
Design and Testing of a High Performance Hydraulic Power System for a Legged Locomotion Application
TLDR
The analysis, design and testing of such an actuation system for the Adaptive Suspension Vehicle at The Ohio State University is presented and special attention is given to the synthesis of the general system configuration which is a pump-controlled hydraulic system.
Modeling and simulation of a six-legged walking robot power system
TLDR
Modeling techniques, detailed analytical models, and a comprehensive nonlinear digital simulation are developed for precise performance predictions, interaction studies, parametric studies, and to aid in the mechanical and control design process.
The kinematics of legged locomotion over uneven terrain
  • Wha-Joon Lee, D. Orin
  • Engineering, Computer Science
    Proceedings. 1986 IEEE International Conference on Robotics and Automation
  • 1986
TLDR
A complete motion-planning algorithm for uneven-terrain locomotion for a multilegged vehicle based on the vehicle/terrain kinematic relationships is described and test results are given.
Modeling and Control of a Hybrid Locomotion System
This paper describes a hybrid mobility system that combines the advantages of both legged and wheeled locomotion. The legs of the hybrid mobility system permit it to surmount obstacles and navigate…
Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration
TLDR
This paper shows how to deal with the kinematical analysis of the equations of a hexapod robot based on a design developed by the Center of Astrobiology INTA-CSIC following the classical formulation of equations.
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 13 REFERENCES
Walking robot with supervisory control
Abstract A design of a six-legged walking robot with supervisory control is presented. A hierarchical control system of the robot incorporates a hybrid computer. In recent years the problem of…
Use of Force and Attitude Sensors for Locomotion of a Legged Vehicle over Irregular Terrain
TLDR
The sensing hardware and the control system needed for legged locomotion over irregular terrain, and experimental results are provided for both statically determinate and indeterminate hexapod gaits.
Computer-aided geometric design of legs for a walking vehicle
Abstract A legged vehicle is potentially more energy efficient and mobile than conventional vehicles in rough terrain. The performance of such a legged vehicle is strongly dependent on the leg…
Computer-Aided Design of a Leg for an Energy Efficient Walking Machine
Abstract Vehicles with legs instead of wheels have been studied for a number of years. One of the reasons for interest in such vehicles is that animals use only 10% as much energy as wheeled or…
Machines That Walk
This paper explores the notion that the control of dynamically stable legged systems that locomote in 3-space can be decomposed into a planar part and an extra-planar part. The planar part generates…
( Sept . 19 - 21 , St . Louis ) . Design and testing of a digitally controlled hydraulic actuation system for a walking vehicle leg mechanism
  • 1983
Mar. 21-23, Denver). 3D optical terrain sensor for the 1984 ASV
  • 1983
Poland). Walking robot multi-level architecture and implementation
  • Proc. 4th Symp. Theory and Practice Robots and Manipulators. Warsaw: Polish Scientific Publishers,
  • 1983
The structural design of the legs for a walking vehicle
  • (Sept
  • 1983
The Synthesis of Basic Motion Regulator System for Quadrupedal Walking Vehicle and Its Experiments
...
1
2
...