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Planning strategies for the Ambler walking robotA hierarchy of planning strategies is proposed and explained for a walking robot called the Ambler. The hierarchy decomposes planning into levels of trajectory, gait, and footfall. An abstraction of feasible traversability allows the Ambler's trajectory planner to identify acceptable trajectories by finding paths that guarantee footfalls without specifying exactly which footfalls. Leg and body moves that achieve this trajectory can be generated by the Ambler's gait planner, which incorporates pattern constraints and measures of utility to search for the best next move. By combining constraints from the quality and details of the terrain, the Ambler's footfall planner can select footfalls that insure stability and remain within the tolerances of the gait.
Document ID
19910066363
Document Type
Conference Paper
Authors
Wettergreen, David (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Thomas, Hans (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Thorpe, Chuck (Carnegie Mellon University Pittsburgh, PA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
CYBERNETICS
Meeting Information
IEEE International Conference on Systems Engineering(Pittsburgh, PA)
Funding Number(s)
CONTRACT_GRANT: NAG1-175
Distribution Limits
Public
Copyright
Other