Accession Number:

ADA243521

Title:

Autonomous Planetary Rover at Carnegie Mellon

Descriptive Note:

Technical rept. 1990

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Report Date:

1991-08-01

Pagination or Media Count:

53.0

Abstract:

This report describes progress in research on a six-legged autonomous robot, called the Ambler, designed for planetary exploration. Much of the research focused on understanding the capabilities of the robot itself and developing a software system capable of autonomously walking the Ambler through natural terrain. We also investigated algorithms for perceiving and acquiring rock samples, which were demonstrated on a separate testbed. Papers include Walking robot with a circulating gait Single leg walking with integrated perception, planning, and control Planning strategies for the ambler walking robot and a perception and manipulation system for collecting rock samples.

Subject Categories:

  • Cybernetics
  • Astronautics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE