The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Perception, Planning, and Control for Walking on Rugged Terrain


    Beteiligte:
    R. Simmons (Autor:in) / E. Krotkov (Autor:in)

    Erscheinungsdatum :

    1991


    Format / Umfang :

    7 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Perception, planning, and control for walking on rugged terrain

    Simmons, Reid / Krotkov, Eric | NTRS | 1991


    Dynamic Biped Walking Control on Rugged Terrain Using the Linear Inverted Pendulum Mode

    Kajita, S. / Tani, K. | British Library Online Contents | 1995


    Rugged Walking Robot

    Larimer, Stanley J. / Lisec, Thomas R. / Spiessbach, Andrew J. | NTRS | 1990


    Rugged terrain makes pemex line difficult

    Saint Albans, M. | Engineering Index Backfile | 1959


    Novel bionic hexapod robot facing rugged terrain

    WU SHENLI / LIU LING / LI YIXUAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff