Autonomous Planetary Rover at Carnegie Mellon
Technical rept. 1990
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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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.