Guidance and Actuation Techniques for an Adaptively Controlled Vehicle.

摘要

This technical report describes the work done to support the overall DARPA Adaptive Suspension Vehicle program. The project consisted of two major tasks: vehicle guidance and actuation techniques. The objective of the first task was to derive a method for enabling an adaptive-suspension vehicle to traverse rough terrain. The second task was concerned with actuation techniques for the legs on the vehicle, specifically an in-depth analysis, design, and demonstration of the vehicle foot-lift hydraulic circuit. This report describes the development of the vehicle guidance algorithms and the foot-lift hydraulic circuit design.