Proceedings ArticleDOI
Ambler: a six-legged planetary rover
Eric Krotkov,John Bares,Takeo Kanade,T. Mitchell,Reid Simmons,Red Whittaker +5 more
- pp 717-722
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TLDR
In this paper, a six-legged walking robot, called Ambler, was constructed for the planetary rover project and used for exploration of the Earth's surface and its surrounding environment.Abstract:
The goal of the planetary rover project is to prototype an autonomous mobile robot for planetary exploration. The authors have constructed a six-legged walking robot, called the Ambler, that features orthogonal legs, an overlapping gait, and a scanning laser rangefinder to model terrain. To enable the Ambler to walk over rugged terrain, they have combined perception, planning, and real-time control into a comprehensive robotic system. >read more
Citations
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Proceedings ArticleDOI
An adaptive action model for legged navigation planning
TL;DR: Methods of adapting foot placement actions to the terrain during the search process are explored, allowing for fuller use of the robot's capabilities, and better resulting paths.
Journal ArticleDOI
The Tum-Walking Machine
TL;DR: The main features of kinematics, kinetic, and control which follow principally new findings in the area of neurobiological concepts of insect walking are presented.
Book ChapterDOI
Locomotion Analysis of Hexapod Robot
TL;DR: The most studied problem for multi-legged robots concerns how to determine the best sequence for lifting off and placing the feet (gait/locomotion planning).
Journal ArticleDOI
Analysis of typical locomotion of a symmetric hexapod robot
TL;DR: A robot kinematics that considers at the same time supporting and transferring legs to optimize walking ability and energy management is introduced and the advantages of hexagonal hexapod robots over rectangular ones are shown.
Proceedings ArticleDOI
Autonomous navigation in outdoor environment: adaptive approach and experiment
TL;DR: The main perception, motion planning and decisional processes required by the robot during navigation are briefly presented, and an on board control architecture that manages all these processes is described.
References
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Book
Legged Robots That Balance
Marc H. Raibert,Ernest R. Tello +1 more
TL;DR: Legged Robots that Balance as discussed by the authors describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments, and reveals that control of such machines is not particularly difficult.
Book
Machines That Walk: The Adaptive Suspension Vehicle
Shin-Min Song,Kenneth J. Waldron +1 more
TL;DR: The Adaptive Suspension Vehicle (ASV) described in this paper is a self-contained walking machine that can sprint at 8 mph and step over a 4-foot wall.
Journal ArticleDOI
A Study of Design and Control of a Quadruped Walking Vehicle
TL;DR: It is thus shown that a practical walking vehicle can be designed using the proposed method, and an algorithm for terrain-adaptive gait control is shown to be applicable for the control of future quadruped walking vehicles with visual sensors.
Journal ArticleDOI
Ambler: an autonomous rover for planetary exploration
John Bares,Martial Hebert,Takeo Kanade,Eric Krotkov,T. Mitchell,Reid Simmons,William Whittaker +6 more
TL;DR: The authors are building a prototype legged rover and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface, and describe how locomotion, perception, planning, and planning systems can satisfy these requirements.
Journal ArticleDOI
Force control in locomotion of legged vehicles over rigid and soft surfaces
TL;DR: The control system of the hexapod walking vehicle is extended to effect the control of foot-contact forces and locomotion in soft soil, and a number of algorithms are proposed to control vertical force components (loads on legs) and leg sink age in locomotions in elastic and consolidating soils.
Related Papers (5)
Terrain mapping for outdoor robots: robust perception for walking in the grass
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