Summary
Some aspects of the mechanical and geometric design of the adaptive suspension vehicle are presented. In particular, there is an emphasis on aspects of the leg design and vehicle geometry, which affect the ability of the vehicle to operate on steep grades or to cross obstacles. A mechanism that maintains the attitude of the foot approximately parallel to the body is described. Geometric aspects of maintaining static stability on steep grades are discussed. Geometric and gait sequence aspects of crossing severe obstacles are also discussed.
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Waldron, K.J., Song, S.M., Wang, S.L., Vohnout, J. (1985). Mechanical and Geometric Design of the Adaptive Suspension Vehicle. In: Morecki, A., Bianchi, G., Kȩdzior, K. (eds) Theory and Practice of Robots and Manipulators. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-9882-4_32
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DOI: https://doi.org/10.1007/978-1-4615-9882-4_32
Publisher Name: Springer, Boston, MA
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