Design Study for an Actively Terrain-Adaptive Off-Road Vehicle.

摘要

This project consisted of studies directed at establishing the feasibility of building a practical vehicle using fully adaptive legged locomotion. The objective of building such a vehicle is mobility in extreme rough terrain conditions. New technologies essential to feasibility include computer control of leg coordination, efficient power transmission for coordinated motion of large numbers of mechanical degrees of freedom, development of terrain sensing systems and utilization of the information provided by those systems in control of the machine. (Author)