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.


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    Titel :

    Ambler - Performance of a six-legged planetary rover


    Beteiligte:
    Krotkov, E. P. (Autor:in) / Simmons, R. G. (Autor:in) / Whittaker, W. L. (Autor:in)

    Erscheinungsdatum :

    1992-08-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Ambler: Performance of a six-legged planetary rover

    Krotkov, E.P. | Online Contents | 1995


    Ambler: an autonomous rover for planetary exploration

    Bares, J. / Hebert, M. / Kanade, T. et al. | Tema Archiv | 1989


    An integrated walking system for the Ambler planetary rover

    Simmons, R. / Krotkov, E. | Tema Archiv | 1991


    Autonomous Walking Results with the Ambler Hexapod Planetary Rover

    Krotkov, E. / Simmons, R. / Whittaker, W. | British Library Conference Proceedings | 1993


    A six-legged rover for planetary exploration

    Simmons, Reid / Krotkov, Eric / Bares, John | NTRS | 1991