Periodic gaits for the CMU Ambler

Details Periodic gaits for the CMU Ambler Periodic gaits for the CMU Ambler

Feb 1992

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1992jros....9....1d&link_type=abstract

Journal of Robotic Systems (ISSN 0741-2223), vol. 9, Feb. 1992, p. 1-15.

Computer Science

Robotics

Astronaut Maneuvering Equipment, Dynamic Control, Dynamic Stability, Mars Surface, Periodic Variations, Walking Machines, Static Stability, Telerobotics, Vertical Orientation

Scientific paper

The configuration of the Carnegie-Mellon University Ambler, a six-legged autonomous walking vehicle for exploring Mars, enables the recovery of a trailing leg past the leading leg to reduce the energy expenditure in terrain interactions. In this article, gaits developed for this unprecedented configuration are described. A stability criterion has been developed that ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities and continuously satisfy the stability criterion.

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