Accession Number : ADA267168


Title :   An Experimental Comparison of CLOS and C++ Implementations of An Object- Oriented Graphical Simulation of Walking Robot Kinematics


Descriptive Note : Master's thesis,


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA


Personal Author(s) : Davidson, Sandra L


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a267168.pdf


Report Date : 25 Mar 1993


Pagination or Media Count : 146


Abstract : The ability to conduct research in the robotic field in new areas can be accomplished safely and efficiently using computer graphic simulation. Object-oriented languages provide a powerful and flexible capability in defining rigid body manipulators that can be adapted in the use and design of many types of systems. The very nature of object-oriented programming permits modification and improvement of the code with ease. This thesis examines the major capabilities of object-oriented programming in conjunction with kinematic equations that simulate a six-legged walking robot. A comparison is conducted between programs using CLOS (LISP) and C + + to graphically simulate the Aquarobot - an existing underwater walking robot. It is found that both languages are effective, but CLOS programming is easier while C + + code executes more than twice as fast as compiled CLOS.


Descriptors :   *COMPUTERIZED SIMULATION , *ROBOTICS , *UNDERWATER VEHICLES , *COMPUTER GRAPHICS , *WALKING , *ROBOTS , KINEMATICS , BODIES , UNDERWATER , LEGS , MANIPULATORS , EQUATIONS , THESES , COMPUTERS , MODIFICATION , COMPARISON , COMPUTER PROGRAMMING


Subject Categories : Computer Programming and Software
      Cybernetics
      Submarine Engineering


Distribution Statement : APPROVED FOR PUBLIC RELEASE