File:Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain (IA rulebasedmotionco00kwak).pdf

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Original file ‎(1,189 × 1,614 pixels, file size: 7.06 MB, MIME type: application/pdf, 208 pages)

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Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain   (Wikidata search (Cirrus search) Wikidata query (SPARQL)  Create new Wikidata item based on this file)
Author
Kwak, Se-Hung.;McGhee, Robert (Robert B.)
image of artwork listed in title parameter on this page
Title
Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain
Publisher
Monterey, California : Naval Postgraduate School
Description
Cover title
"NPS-CS-91-006."
"December 1990."
AD-A232 224
Includes bibliographical references (p. 25-26)
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
aq/aq cc:9116 06/06/97

Subjects: GROUND MOTION.; ROBOTS.; TERRAIN.; SUSPENSION DEVICES.; COMPUTER PROGRAMS.
Language English
Publication date December 1990
publication_date QS:P577,+1990-12-00T00:00:00Z/10
Current location
IA Collections: navalpostgraduateschoollibrary; fedlink; americana
Accession number
rulebasedmotionco00kwak
Authority file  OCLC: 1084521623
Source
Internet Archive identifier: rulebasedmotionco00kwak
https://archive.org/download/rulebasedmotionco00kwak/rulebasedmotionco00kwak.pdf

Licensing

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Public domain
This file is a work of a sailor or employee of the U.S. Navy, taken or made as part of that person's official duties. As a work of the U.S. federal government, it is in the public domain in the United States.
This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights.

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current01:33, 10 July 2020Thumbnail for version as of 01:33, 10 July 20201,189 × 1,614, 208 pages (7.06 MB)Fæ (talk | contribs)FEDLINK - United States Federal Collection rulebasedmotionco00kwak (User talk:Fæ/IA books#Fork8) (batch 1990-1992 #6750)

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