Simulation of tripod gaits for a hexapod underwater walking machine
By:  Charles Andrew Schue III
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1993
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 257
Description: This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation.
Notes: Thesis advisor(s): Yutaka Kanayama.

"June 1993."

Thesis (M.S. in Electrical Engineering) Naval Postgraduate School, June 1993.

Bibliography: p. 255.

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US Coast Guard (USCG) author.