Next:Dynamics and Control Up:Ambulatory Robotics Previous:Walking Controllers for the

Mobile Platforms Designs for Outdoor Locomotion

The focus of this project is the study of the rough terrain locomotion and obstacle-crossing behaviour of two alternative mobile platforms: a wheeled-tracked vehicle and a four-legged robot, the Scout II. Part of this project involves the development of realistic models of the mobile platforms including their motion controllers. We are also developing rough terrain models, motion control algorithms for rough terrain, and algorithms for obstacle-crossing.

Simulations are carried out within the Working Model simulation environment (dynamical simulator package). The behaviour of the mobile platforms will be evaluated via the use of a number of performance indices, such as stability, power consumption, manoeuvrability, and so on.

S. Talebinejad, E. Papadopoulos, M. Buehler

Annual Report

Mon Jun 26 21:22:20 GMT 2000