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This paper contains descriptions and specifications of the major mechanical systems of the Adaptive Suspension Vehicle. It also contains an overview of the computer software and hardware architectures. Experimental response curves for the principal servo systems are presented.

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 of machine intelligence and environmental sensing capability. Much of the technology involved is unique and has potential for application to future robot systems. In this paper, major aspects of the vehicle and leg geometry, the on-board processing configuration, and the hydrostatic power transmission system are discussed.

This paper has two distinct goals. First, we argue in an extended introduction that high velocity forming, as can be implemented through electromagnetic forming, is a technology that should be developed. As a process used in conjunction with traditional stamping, it may offer dramatically improved formability, reduced wrinkling and active control of springback among other advantages. In the body of the paper we describe the important factors that lead to improved formability at high velocity. In particular, high sample velocity can inhibit neck growth. There is a sample size dependence where larger samples have better ductility than those of smaller dimensions. These aspects are at least partially described by the recent model of Freund and Shenoy. In addition to this, boundary conditions imposed by sample launch and die impact can have important effects on formability.

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