Actively controlled mobility systems

The author discusses the coordination problem which arises in vehicles with large numbers of independently actuated joints designed to operate in unknown terrain. Coordination requires a considerable amount of sensor data. Some of this may be available from sensors required by other machine systems. Other necessary data mandates installation of sensor systems which would not otherwise be required. Much of the technology discussed is based on the adaptive suspension vehicle legged vehicle. An important application area for this technology is in planetary rover vehicles. A number of the diverse designs under study are reviewed with regard to their coordination requirements