Performance of a six-legged planetary rover - Power, positioning, and autonomous walkingThe authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.
Document ID
19930051514
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Krotkov, Eric (NASA Headquarters Washington, DC United States)
Simmons, Reid (Carnegie Mellon Univ. Pittsburgh, PA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 1 (A93-35501 13-63)