Guidance and Actuation Techniques for an Adaptively Controlled Vehicle

Abstract : This technical report describes the work done to support the overall DARPA Adaptive Suspension Vehicle program. The project consisted of two major tasks: vehicle guidance and actuation techniques. The objective of the first task was to derive a method for enabling an adaptive-suspension vehicle to traverse rough terrain. The second task was concerned with actuation techniques for the legs on the vehicle, specifically an in-depth analysis, design, and demonstration of the vehicle foot-lift hydraulic circuit. This report describes the development of the vehicle guidance algorithms and the foot-lift hydraulic circuit design.