Computer Science – Robotics
Scientific paper
Mar 1994
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1994cmu..reptr....w&link_type=abstract
Final Report Carnegie-Mellon Univ., Pittsburgh, PA. Robotics Inst.
Computer Science
Robotics
Architecture (Computers), Autonomy, Lunar Surface, Robotics, Robots, Walking Machines, Complex Systems, Lunar Surface Vehicles, Navigation Instruments, Space Exploration, Task Planning (Robotics)
Scientific paper
Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.
Dowling Kevin
Whittaker William
No associations
LandOfFree
Design of a walking robot does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Design of a walking robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Design of a walking robot will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-1871159