Accession Number:

ADA243521

Title:

Autonomous Planetary Rover at Carnegie Mellon

Descriptive Note:

Technical rept. 1990

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

• Whittaker, William
• Kanade, Takeo
• Mitchell, Tom

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.

Descriptors:

• *COMPUTER PROGRAMS
• ALGORITHMS
• INTEGRATED SYSTEMS
• TEST BEDS
• STRATEGY
• ROBOTS
• TERRAIN
• ROCK
• PLANNING
• SAMPLING
• COLLECTION
• PERCEPTION
• PLANETS
• SPACE EXPLORATION

Subject Categories:

• Cybernetics
• Astronautics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE