Machines that Walk: The Adaptive Suspension Vehicle
What is 16 feet long, 10 feet high, weighs 6,000 pounds, has six legs, and can sprint at 8 mph and step over a 4 foot wall? The Adaptive Suspension Vehicle (ASV) described in this book.
Machines That Walk provides the first in depth treatment of the "statically stable walking machine" theory employed in the design of the ASV, the most sophisticated, self contained, and practical walking machine being developed today. Under construction at Ohio State University, the automatically terrain adaptive ASV has one human operator, can carry a 500 pound payload and is expected to have better fuel economy and mobility than that of conventional wheeled and tracked vehicles in rough terrain.
The development of the ASV is a milestone in robotics research, and Machines That Walk provides a wealth of research results in mobility, gait, static stability, leg design, and vertical geometry design. The authors' treatment of statically stable gait theory and actuator coordination is by far the most complete available.
Shin Min Song is an Assistant Professor in the Department of Mechanical Engineering at the University of Illinois at Chicago. Kenneth J. Waldron is Nordholt Professor in the Department of Mechanical Engineering at Ohio State University.
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abduction actuator arrangement adjustment ankle system Artificial Intelligence backward equal phase backward wave gait body angle body motion body movements center of gravity circle-point continuous follow-the-leader gait coordination corner distance coupler crank defined design positions dimensional pantograph duty factor ellipse equal phase gait Equation foot positions foot range foot trajectory foothold footprint forbidden region four-bar leg frame front feet front legs gait analysis gait diagrams gait stability margin half cycle Hence hexapod horizontal leg design leg geometry leg linkage legged locomotion lifted and placed linear actuator longitudinal stability margin McGhee mechanical method middle feet middle legs minimum motion limits moved ODEX optimization pantograph leg periodic gait plane quadruped rear feet rear foot rear legs roller chains rotation selected seven-bar leg shank shown in Figure shows skew angle skew pantograph solution linkage stable segment stroke support pattern support phase Theorem three dimensional vertical step walking machine