AMBLER - PERFORMANCE OF A 6-LEGGED PLANETARY ROVER

被引：17

作者：

KROTKOV, EP

SIMMONS, RG

WHITTAKER, WL

机构：

[1] Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213-3891

来源：

ACTA ASTRONAUTICA | 1995年 / 35卷 / 01期

基金：

美国国家航空航天局;

关键词：

D O I：

10.1016/0094-5765(94)00078-Z

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

引用

页码：75 / 81

页数：7

共 10 条

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