File:A computer simulation of vehicle and actuator dynamics for a hexapod walking robot (IA computersimulati00kris).pdf

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Original file ‎(1,147 × 1,556 pixels, file size: 6.88 MB, MIME type: application/pdf, 176 pages)

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A computer simulation of vehicle and actuator dynamics for a hexapod walking robot   (Wikidata search (Cirrus search) Wikidata query (SPARQL)  Create new Wikidata item based on this file)
Author
Kristiansen, Karl Johann Ragnar Wrussell.
image of artwork listed in title parameter on this page
Title
A computer simulation of vehicle and actuator dynamics for a hexapod walking robot
Publisher
Monterey, California: Naval Postgraduate School;Springfield, Va.: Available from National Technical Information Service
Description
Thesis advisor(s): Robert B. McGhee
"March 1994."
Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1994
Bibliography: p. 156-157
Underwater walking machines offer a potential for replacement of human divers in certain aspects of underwater construction and inspection. One such vehicle, Aquarobot, is currently under test in Japan. However, this vehicle is currently too slow to be economically utilized, and limited hardware availability restricts progress in control software improvements. A software dynamic simulation model is desirable to relieve this restricted access. The problem addressed by this research is the modeling of system dynamics of underwater walking vehicles with sufficient simplification to achieve a real- time simulation. The approach taken includes an object-oriented, massless leg robot dynamic model and employs a high performance graphics rendering toolkit. The resulting simulations of a robotic joint actuator and of the robot itself, utilizing springs and dampers in the joints, runs in real-time. The robot simulation model executes on a four-processor machine with under fifteen percent utilization of the processor dedicated to system dynamics. This result indicates that the simulation is likely to retain real-time capability after replacing the springs and dampers with the more accurate joint actuator model also developed in this thesis
Mode of access: World Wide Web
System requirements: Adobe Acrobat Reader
US Navy (USN) author

Subjects: Computer Science
Language en_US
Publication date 1 March 1994, 00:00:00
Current location
IA Collections: navalpostgraduateschoollibrary; fedlink; americana
Accession number
computersimulati00kris
Authority file  OCLC: 1042471585
Source
Internet Archive identifier: computersimulati00kris
https://archive.org/download/computersimulati00kris/computersimulati00kris.pdf

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Public domain
This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code. Note: This only applies to original works of the Federal Government and not to the work of any individual U.S. state, territory, commonwealth, county, municipality, or any other subdivision. This template also does not apply to postage stamp designs published by the United States Postal Service since 1978. (See § 313.6(C)(1) of Compendium of U.S. Copyright Office Practices). It also does not apply to certain US coins; see The US Mint Terms of Use.
This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights.

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current06:11, 16 July 2020Thumbnail for version as of 06:11, 16 July 20201,147 × 1,556, 176 pages (6.88 MB)Fæ (talk | contribs)FEDLINK - United States Federal Collection computersimulati00kris (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #12063)

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