Title :
Stability analysis of the walking beam vehicle
Author :
Barghava, Samir ; Waldron, Kenneth J.
Author_Institution :
Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
The walking beam vehicle is one of several concepts being considered by NASA for an unmanned Mars rover vehicle. It is a simple walking machine with either eight or nine controlled degrees of freedom depending on the configuration used. Martin Marietta Corporation proposed the concept. This paper contains an analysis of the stability, and the available leg stroke on sloping terrain.<>
Keywords :
aerospace control; mobile robots; stability; Martin Marietta Corporation; NASA; aerospace control; leg stroke; robotics; stability; unmanned Mars rover vehicle; walking beam vehicle; Assembly; Interference; Leg; Legged locomotion; Mars; Mechanical engineering; NASA; Stability analysis; Telescopes; Vehicles;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240589
