The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.


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    Title :

    FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover



    Conference:

    AIAA SPACE 2008 Conference and Exposition ; 2008 ; San Diego, California, United States


    Publication date :

    2008-09-09


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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