To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.


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    Title :

    A six-legged rover for planetary exploration


    Contributors:
    Simmons, Reid (author) / Krotkov, Eric (author) / Bares, John (author)

    Conference:

    AIAA Computing in Aerospace Conference ; 1991 ; Baltimore, MD, United States


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    A six-legged rover for planetary exploration

    SIMMONS, REID / KROTKOV, ERIC / BARES, JOHN | AIAA | 1991


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    Ambler - Performance of a six-legged planetary rover

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


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    Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

    Colombano, Silvano / Kirchner, Frank / Spenneberg, Dirk et al. | AIAA | 2004