THE KINEMATICS OF MOTION PLANNING FOR MULTILEGGED VEHICLES OVER UNEVEN TERRAIN

A motion-planning algorithm for uneven-terrain locomotion for a multilegged vehicle is described. The algorithm has been developed based on the vehicle/terrain kinematic relationships. The vehicle model is chosen from a hexapod vehicle, named the Adaptive Suspension Vehicle (ASV), which has been constructed at Ohio State University (OSU) and is currently being tested. A simple body-regulation plan has been designed based on the local slope of the terrain and should increase the safety and adaptability of the vehicle. The local terrain is estimated by using the support points of the supporting legs and proximity information from the transfer legs. The adjustment of the position and dimensions of the constrained working volume (CWV) for each leg, which increases the vehicle stability over sloped terrain, is discussed. The algorithm has been implemented in simulation on a PDP-11/70 minicomputer, from which test results are given.