The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.


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    Titel :

    Ambler: an autonomous rover for planetary exploration


    Weitere Titelangaben:

    Ambler, ein autonomer beweglicher Roboter fuer Planetenerkundung


    Beteiligte:
    Bares, J. (Autor:in) / Hebert, M. (Autor:in) / Kanade, T. (Autor:in) / Krotkov, E. (Autor:in) / Mitchell, T. (Autor:in) / Simmons, R. (Autor:in) / Whittaker, W. (Autor:in)

    Erschienen in:

    Computer, Long Beach ; 22 , 6 ; 18-26


    Erscheinungsdatum :

    1989


    Format / Umfang :

    9 Seiten, 10 Quellen


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Autonomous Walking Results with the Ambler Hexapod Planetary Rover

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


    Ambler: Performance of a six-legged planetary rover

    Krotkov, E.P. | Online Contents | 1995


    Ambler - Performance of a six-legged planetary rover

    Krotkov, E. P. / Simmons, R. G. / Whittaker, W. L. | NTRS | 1992


    An integrated walking system for the Ambler planetary rover

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


    Planetary surface exploration MESUR/autonomous lunar rover

    Stauffer, Larry / Dilorenzo, Matt / Austin, Dave et al. | NTRS | 1992