User:Jgordonnichol/sandbox

Adaptive Suspension Vehicle The Adaptive Suspension Vehicle (ASV) is an experimental six-legged vehicle designed and “built to develop and prove the technology needed to build walking machines at a useful scale for transportation in very rough terrain.” Completed in May 1985, the ASV was the most sophisticated and practical artificial legged locomotion machine developed up to that time. Its design has influenced research in the fields of mechanical design and robotics.

Legged Locomotion Machines influenced by the ASV

Plusjack Walking Harvester The Plusjack Walking Harvester, developed in the late 1990s by Plustech Oy (a Finnish subsidiary of John Deere), is one example of a robotic vehicle that made use of the technology developed for the ASV.

Kinetically Ordered Locomotion Test (KOLT) Robot Collaborative effort between Stanford University and Ohio State, the KOLT is a quadrupedal robot capable of high speed locomotion.

Researchers/Developers

Darren Krasny Software Engineer, Battelle Memorial Institute []

Robert McGhee Professor Emeritus, Naval Postgraduate School

Jamie Nichol Founder and President of J. Gordon Nichol & Company, LLC.

David Orin Professor Emeritus in Electrical and Computer Engineering, The Ohio State University.

Luther Palmer Assistant Research Professor, University of South Florida, Biomorphic Robotics Lab, Department of Computer Science and Engineering.

James Schmiedeler Associate Professor at University of Notre Dame, Locomotion And Biomechanics Laboratory.

Surya P. N. Singh Senior Lecturer (Assistant Professor) at the University of Queensland, Robotics Design Lab.

Kenneth Waldron Professor (Research) Emeritus, Stanford University, Department of Mechanical Engineering.

Publications
P. J. Csonka and K. Waldron, "Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator," Journal of Mechanisms and Robotics, vol. 2, no. 2, pp. 021008-1-0211008-8, 2010.

J. Estremera, and K. Waldron, "Thrust Control, Stabilization and Energetics of a Quadruped Running Robot," The International Journal of Robotics Research, vol. 27, no. 10, pp. 1135-1151, 2008.

J. G. Nichol, Design for energy loss and energy control in a galloping artificial quadruped, Ph.D. thesis, Stanford University, 2005.

J. G. Nichol, K. Waldron, S. P. Singh, L. R. Palmer, and D. E. Orin, "System Design of a Quadrupedal Galloping Machine," International Journal of Robotics Research, vol. 23, no. 10-11, pp. 1013-1028, 2004.

L. R. Palmer III and D. E. Orin, "Intelligent Control of High-Speed Turning in a Quadruped," Journal of Intelligent and Robotic Systems, Volume 58 Issue 1, pp 47-68, 2010.

S. P. Singh and K. Waldron, "A Stance Period Approach For Simplified Observation Of Galloping As Applied To Canines," Robotica, vol. 30, no. 4, pp. 627-633, 2012.

R. Vertechy, V. P. Castelli, and K. Waldron, "Electro/Magneto-Sensitive Elastomers and Lagrangian Electro/Magneto-Statics," Chiang Mai Journal of Science, vol. 32, no. 3, pp. 287-292, 2004.

K. Waldron and M. E. Abdallah, "An Optimal Traction Control Scheme for Off-Road Operation of Robotic Vehicles," IEEE - ASME Transactions on Mechatronics, vol. 12, no. 2, pp. 126-133, 2007.

K. Waldron, J. Estremera, P. J. Csonka, and S. P. Singh, "Analyzing Bounding and Galloping," ASME Transactions J. Mechanisms and Robotics, Vol. 1, No. 1, pp 011002-1 to 011002-11, 2009.

K. Waldron and R. B. McGhee, "Adaptive Suspension Vehicle," IEEE Control Systems Magazine, vol. 6, no. 6, pp. 7-12, 1986.

K. Waldron, S. P. Singh, "Resolving the Paradox of Asymmetry in the Gallop Gait," 13th World Congress in Mechanism and Machine Science, Guanajuato, México, 19-25, 2011.

K. Waldron, T. H. Tran, and J. Madadnia, "Configuration Design of a Robotic Vehicle for Rough Terrain Mobility," International Journal of Intelligent Systems Technology, vol. 8, no. 1-4, pp. 171-184, 2010.