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原文传递 An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation

题名：	An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation
作者：	Waldron, Kenneth J.;McGhee, Robert B.;
关键词：	ROBOTS, WALKING, TEST VEHICLES, COMPUTER PROGRAMS, ROBOTICS, CONTROL SYSTEMS, SYSTEMS ENGINEERING, COMPUTERS, EXPERIMENTAL DESIGN, PROPULSION SYSTEMS, HYDROSTATICS, SUPPORTS, ACTUATORS, VEHICLES, SUSPENSION DEVICES, PUMPS, OFFROAD TRAFFIC, HYDRAULIC EQUIPMENT, SAFETY EQUIPMENT, LEGS, LOCOMOTION.
摘要：	This report summarizes research accomplished during the fourth six- month period of this three-year project. The research is concerned with the design and construction of an experimental vehicle making use of actively-controlled suspension units. The current vehicle concept envisages locomotion without the use of wheels or tracks, but rather employs six active suspension elements, each providing support and propulsion analogously to a biological leg. The report describes a prototype hydraulically-powered vehicle leg making use of an innovative hydrostatic system with one variable displacement pump for each actuator. This system is designed to permit locomotion at a considerably lower energy cost than would be possible with a conventional valve-controlled configuration using pressure-compensated pumps. The report also discusses hydraulic safety features based on explosively-actuated emergency valving to either lock actuators or bypass pumps. Electrical system research includes validation of control software for four vehicle operational modes. These modes range from a semi-automatic mode in which the operator controls either the body or individual legs, to a fully automatic terrain-following mode in which the operator merely steers the vehicle body with a three-axis controller while the on-board computer controls both body attitude and foot placement. Experimental results presented include the use of proximity sensors for automatic control of ground clearance during swing phases of leg motion. (Author)
总页数：	294
报告类型：	科技报告