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:
    Simmons, Reid (Autor:in) / Krotkov, Eric (Autor:in)


    Erscheinungsdatum :

    1991-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :



    Rugged Walking Robot

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


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

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


    Spherical planetary robot for rugged terrain traversal

    Raura, Laksh / Warren, Andrew / Thangavelautham, Jekan | IEEE | 2017


    Rugged terrain vehicle design and route optimization

    PARENTI ROBERT / NEUBECKER CYNTHIA / SIDDIQUI ADIL NIZAM | Europäisches Patentamt | 2023

    Freier Zugriff