Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain
By: S. H. Kwak and R. B. McGhee
Contributors: McGhee, Robert (Robert B.); Naval Postgraduate School (U.S.). Dept. of Computer Science
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1990
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Subjects: Suspension devices; Ground motion; Terrain; Robots; Computer programs
Other titles: NPS-CS-91-006.
Description: This study investigates the utility of rule based coordination of motion for ternary-type terrain      locomotion by a hexapod walking machine. The ternary-type terrain considered is composed      of permitted areas, forbidden areas, and ditch areas. The logic for generating motion      coordination is written in Prolog while the simulation of the terrain and of the vehicle      kinematics, as well as low-level on-board computer functions, are written in extended      Common Lisp and Flavors. It is found that this approach, which utilizes multiple programming      paradigms for programming motion coordination logic and simulation objects, results in code      that is much easier to understand and modify than previous motion coordination programs      written in Pascal. Thus, the code development effort and time are greatly reduced. The      authors believe that both the methodology and the motion coordination logic presented in this      report possess sufficient merit to justify full-scale physical testing in the Adaptive Suspension      Vehicle at the Ohio State University.
Notes: Cover title.

"NPS-CS-91-006."

"December 1990."

AD-A232 224.

Includes bibliographical references (p. 25-26).

aq/aq cc:9116 06/06/97