Integrated system for single leg walking

Details Integrated system for single leg walking Integrated system for single leg walking

Jul 1990

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1990stin...9120329s&link_type=abstract

Unknown

Computer Science

Robotics

Computer Programs, Real Time Operation, Robotics, Terrain, Walking Machines, Images, Lasers, Position (Location), Scanners, Telecommunication

Scientific paper

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

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