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Terrain interaction with the quarter scale beam walkerFrame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.
Document ID
19910035604
Document Type
Conference Paper
Authors
Chun, Wendell H. (Martin Marietta Space Systems, Inc. Denver, CO, United States)
Price, S. (Martin Marietta Space Systems, Inc. Denver, CO, United States)
Spiessbach, A. (Martin Marietta Space Systems Co. Denver, CO, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
GROUND SUPPORT SYSTEMS AND FACILITIES (SPACE)
Meeting Information
Mobile robots IV(Philadelphia, PA)
Funding Number(s)
CONTRACT_GRANT: JPL-958073
Distribution Limits
Public
Copyright
Other