Ambler - Performance of a six-legged planetary rover

Details Ambler - Performance of a six-legged planetary rover Ambler - Performance of a six-legged planetary rover

Aug 1992

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992wadc.iafcrx...k&link_type=abstract

IAF, International Astronautical Congress, 43rd, Washington, Aug. 28-Sept. 5, 1992. 8 p.

Computer Science

Robotics

Mars Surface, Robotics, Roving Vehicles, Walking Machines, Autonomy, Energy Consumption, Robot Control

Scientific paper

In 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.

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