Title :
An integrated walking system for the Ambler planetary rover
Author :
Simmons, Reid ; Krotkov, Eric
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The Carnegie Mellon University Planetary Rover project is developing the Ambler, a six-legged robot designed for planetary exploration. The authors have developed reliable and efficient control, perception and planning algorithms suitable for navigating rugged terrain. The components have been integrated into a system that autonomously walks the Ambler along routes and over obstacles
Keywords :
mobile robots; planning (artificial intelligence); space vehicles; Ambler planetary rover; Carnegie Mellon University Planetary Rover project; integrated walking system; mobile robots; perception; planetary exploration; planning; rugged terrain; six-legged robot; space vehicles; Automatic control; Control systems; Leg; Legged locomotion; Mobile robots; Motion control; Motion planning; Navigation; Robot kinematics; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131935
