The configuration of the Carnegie Mellon University Ambler, a six legged autonomous walking vehicle for exploring Mars, enables the recovery of a trailing leg past the leading leg to reduce the energy expenditure in terrain interactions. Gaits developed for this unprecedented configuration are described. A stability criterion was developed which ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities, and continuously satisfy the stability criterion.


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    Titel :

    Periodic Gaits for the CMU Ambler


    Beteiligte:
    S. Mahalingam (Autor:in) / S. N. Dwivedi (Autor:in)

    Erscheinungsdatum :

    1989


    Format / Umfang :

    10 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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