This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Exploring the Potential of a Quadruped
ISSN: 0148-7191, e-ISSN: 2688-3627
Published February 01, 1969 by SAE International in United States
Annotation ability available
A four-legged, 3000 lb, walking truck test bed has been developed and the test results have proved the feasibility of walking machines. Effectiveness of this control method where the machine mimics man’s arm and leg movements was shown by a variety of maneuverability experiments. Therefore, it has been proved that it is possible to develop this vehicle concept, and the control method involved, to effectively emulate animals in the way they travel on rough terrain.
Human perception, judgment, and agility are transmitted through the machine in a manner that lets the operator easily imagine that the machine is merely an effective extension of his own appendages. The human psychomotor action, coupled with the power and ruggedness of the machine, provides a valuable marriage. It opens new vistas not only for rough terrain vehicles but also for a variety of other manipulative machines.
Many jobs require the sensing acuity of man but are too tough for the frail human flesh. It is possible to provide a man with machines that react to his natural neuromuscular reflexes so as to deftly do articulate manipulative work. Examples of such work are the transfer, orientation, and placement of: a 6000-lb missile group; a 2000-lb bomb assembly; large ammunition canisters; cargo packages; large assembly parts; etc.
Plans are now underway for preliminary testing to show maneuvering capability.
Based on preliminary test results, additional development programs may be planned. The objective of any new programs will be to extend the quadruped capabilities and de-demonstrate practicality in field applications.
|Ground Vehicle Standard||Collision Deformation Classification|
|Technical Paper||Theoretic Analysis of Factor to Affect Door Closing Force by Positioning Error of Assembly Fixture|
CitationMosher, R., "Exploring the Potential of a Quadruped," SAE Technical Paper 690191, 1969, https://doi.org/10.4271/690191.
- High James “An Application of Advanced Technology to Anti-Guerilla Warfare.” General Electric Company Santa Barbara, California July 1962
- Bekker M.G. “Theory of Land Locomotion.” University of Michigan Press Ann Arbor, Michigan 1956
- Gray J. “How Animals Move.” Cambridge University Press Cambridge, England 1953
- Liston R. A. “Walking Machine Studies.” Proceedings of the 1966 Army Science Conference, United States Military Academy, West Point New York June 1966
- Liston R. A. Mosher R. S. “The Development of a Quadruped Walking Machine.” Aug 1967
- Bernhard R. K. “Preliminary Study on Jumping and Running Types of Locomotion.” Land Locomotion Laboratory Detroit, Michigan 1958
- Shigley J. E. “The Mechanics of Walking Vehicles.” Land Locomotion Laboraotry, ATAC Detroit, Michigan 1957
- Mosher R. S. Fleszar J. S. Croshaw P. F. “Test and Evaluation of the Limited Motion Pedipulator.” General Electric Company Pittsfield, Mass February 1966
- Barnes Sam “Machines that Walk.” Machine Design February 17 1965 156
- Mosher R. S. “Handyman to Hardiman.” SAE Paper No. 670088 January 1967
- Mosher R. S. Murphy Wilton “Human Control Factors in Walking Machines.” ASME Human Factors Chica Chicago, Illinois November 7 1965
- Mosher R. S. “Industrial Manipulators.” Scientific American October 1964 88
- Mosher R. S. “Force Reflection Electrohydraulic Servo Manipulator.” Electro-Technology Magazine December 1960
- Sheridan T. B. “Measurement and Display of Control Information.” September 1966
- Barnes Sam “Army Looks at ‘Living’ Vehicles.” Machine Design May 25 1967 18
- Murphy W. W. Wirta R. W. “The Effect of Visual Feedbacks in Remote Handling.” October 31 1963
- “Optimum Underwater Manipulator Systems for Manned Submersibles.” North American Aviation, Inc
- Liston R. H. Mosher R. S. “Walking Machine Studies.” Paper presented at International Society for Terrain Vehicle Systems Conference Parry Sound, Ontario August 12, 1965
- Mosher R. S. “Pperator Machine Relationships in the Manipulator.” Electro-Technology December 1960
- Murphy W. W. “An Analysis of Variations in Several Feedback Modaliteis and Effects on Human Performance.” January 29 1963
- Liston R. H. Mosher R. S. “A Versatile Walking Truck.” October 29 1968