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Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.
Document ID
20130010585
Document Type
Conference Paper
External Source(s)
Authors
Townsend, Julie (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Biesiadecki, Jeffrey (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 27, 2013
Publication Date
October 17, 2012
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Meeting Information
2012 ASME Dynamic Systems and Control Conference: 11th Motion and Vibration Conference(Fort Lauderdale, FL)
Distribution Limits
Public
Copyright
Other
Keywords
terrain anomaly
wheeled mobility systems
passive suspension systems