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The International Journal of Robotics Research
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Configuration Design of the Adaptive Suspension Vehicle

Kenneth J. Waldron

Department of Mechanical Engineering The Ohio State University Columbus, Ohio 43210

Vincent J. Vohnout

Department of Mechanical Engineering The Ohio State University Columbus, Ohio 43210

Arrie Pery

20 Arlozorov Street Kfar-Saba 44453 Israel

Robert B. McGhee

Department of Electrical Engineering The Ohio State University Columbus, Ohio 43210

The selection of vehicle and leg configuration and of power transmission and actuation system configuration for the adaptive suspension vehicle (ASV) are discussed. The ASV will be a proof-of-concept prototype of a proposed class of transportation vehicles for use in terrain that is not passable for conventional vehicles. It uses a legged locomotion princi ple. The machine will not be an autonomous "robot, " in the sense that it will carry an operator. It will, however, have a very high level of machine intelligence and environmental sensing capability. Much of the technology involved is unique and has potential for application to future robot systems. In this paper, major aspects of the vehicle and leg geometry, the on-board processing configuration, and the hydrostatic power transmission system are discussed.

The International Journal of Robotics Research, Vol. 3, No. 2, 37-48 (1984)
DOI: 10.1177/027836498400300204
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