Technical Description of the Adaptive Suspension Vehicle

Pugh, Dennis R.; Ribble, Eric A.; Vohnout, Vincent J.; Walliser, T.M.; Patterson, Mark R.; Waldron, Kenneth J.

doi:10.1177/027836499000900203

Cited by 97 publications

(51 citation statements)

References 6 publications

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“…Case Western Robot II (Chiel et al 1992) 0.5 1 0.083 0.16 Dante II (Bares and Wettergreen 1999) 3 770 0.017 0.006 Atilla a (Angle 1991) 0.36 2.5 0.03 0.083 Genghis a (Angle 1989) 0.39 1.8 0.038 0.097 Adaptive Suspension Vehicle a (Pugh et al 1990) 5 3200 1.1 0.22 Boadicea (Binnard 1995) 0.5 4.9 0.11 0.22 Sprawlita (Clark et al 2001) 0.17 0.27 0.42 2.5 RHex a 0.53 7 0.55 1.04 a. Power autonomous.…”

Section: Introductionmentioning

confidence: 99%

RHex: A Simple and Highly Mobile Hexapod Robot

Saranlı

Buehler

Koditschek

2001

The International Journal of Robotics Research

1,149

877

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In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators-one motor located at each hip-achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, openloop tripod gait. The legs rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. An extensive suite of experimental results documents the robot's significant "intrinsic mobility"-the traversal of rugged, broken, and obstacle-ridden ground without any terrain sensing or actively controlled adaptation. RHex achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.

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Section: Introductionmentioning

confidence: 99%

RHex: A Simple and Highly Mobile Hexapod Robot

Saranlı

Buehler

Koditschek

2001

The International Journal of Robotics Research

1,149

877

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“…Adaptive Suspension Vehicle 7 , used an algorithm based on requiring that the interaction force between any pair of feet be zero. This algorithm was shown to be isomorphic with, but much more computationally efficient than, Moore-Penrose pseudoinversion of the system Jacobian 8 .…”

Section: Thementioning

confidence: 99%

Coordination of an unmanned vehicle with active suspension over extreme terrain

Waldron

Abdallah

2003

SPIE Proceedings

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Active suspension is now a well-tried technology in road vehicles. It has been installed on a HMMV and demonstrated to significantly improve performance in rough road conditions 1 . This capability presents an opportunity for improved mobility in off-road conditions. The challenge is to devise a means of translating the desired trajectory of the vehicle into commands to the suspension actuators and the traction motors in an optimal, or near optimal manner. In this paper we describe part of a software architecture that was developed to enable such performance from a six-wheeled vehicle with active suspension and independent wheel drives. The vehicle was a concept developed under the DARPA Unmanned Ground Combat Vehicle Program.

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“…The Adaptive Suspension Vehicle was a large, six-legged vehicle designed to carry an operator and a 500 lb payload [14], and intended as a mobility system for use in very rough terrain (see Fig. 3).…”

Section: Introductionmentioning

confidence: 99%

A Brief History of Legged Robotics

Csonka

Waldron

2011

Technology Developments: The Role of Mechanism and Machine Science and IFToMM

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Research in the area of legged robotic systems has spanned almost the entire history of modern robotics. IFToMM has played a crucial role in this history by providing a channel of communication between East and West during the cold war period, and via its Technical Committee on Robotics in more recent years. In this chapter we have attempted an overview of what has become a vigorous field of research.

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Technical Description of the Adaptive Suspension Vehicle

Abstract: 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.

Cited by 97 publications

References 6 publications

RHex: A Simple and Highly Mobile Hexapod Robot

RHex: A Simple and Highly Mobile Hexapod Robot

Coordination of an unmanned vehicle with active suspension over extreme terrain

A Brief History of Legged Robotics

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