In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.
Ambler - Performance of a six-legged planetary rover
1992-08-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
Ambler: Performance of a six-legged planetary rover
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|An integrated walking system for the Ambler planetary rover
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