Ambler - Performance of a six-legged planetary roverIn this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.
Document ID
19920074535
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Krotkov, E. P. (NASA Headquarters Washington, DC United States)
Simmons, R. G. (NASA Headquarters Washington, DC United States)
Whittaker, W. L. (Carnegie Mellon University Pittsburgh, PA, United States)