Controlling the adaptive suspension vehicle

descriptionPublicationkeyboard_double_arrow_right Article 01 Jun 1989Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:Computer, volume 22, pages 59-65 (issn: 0018-9162,

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Authors: Thomas E. Bihari; Thomas M. Walliser; Mark R. Patterson;

doi: 10.1109/2.30721

Controlling the adaptive suspension vehicle

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Abstract

A description is given of the adaptive suspension vehicle (ASV), which is an experimental, six-legged walking vehicle, and its operation. The ASV software, which consists of more than 150000 lines of source code, is discussed. The application software is written in Pascal, and the operating system is written in PL/M and assembly language. The ASV software performs the following main duties: sensing, vehicle state determination, terrain modeling, motion planning, and stereo control. >

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Stanford University
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