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Publications, Ambler

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover
  E. Krotkov and R. Simmons
  Intl. Journal of Robotics Research, Vol. 15, No. 2, April, 1996, pp. 155-180.

• Ambler: Performance of a Six-Legged Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81. [Abstract]
  Download: pdf [178 KB] copyrighted

• Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler
  E. Krotkov and R. Simmons
  3rd International Symposium of Experimental Robotics III, October, 1993.
  Download: pdf [607 KB] copyrighted

• Autonomous Walking Results with the Ambler Hexapod Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53. [Abstract]
  Download: pdf [301 KB] copyrighted

• Terrain Mapping For Long-duration Autonomous Walking
  R. Hoffman and E. Krotkov
  Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), Vol. 1, July, 1992, pp. 563 - 568.
  Download: pdf [677 KB] copyrighted

• Performance of a six-legged planetary rover: power, positioning, and autonomous walking
  E. Krotkov and R. Simmons
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1992, pp. 169 - 174. [Abstract]
  Download: pdf [603 KB] copyrighted

• 1991 Year End Report Autonomous Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992. [Abstract]
  Download: pdf [2782 KB] copyrighted

• Dead Reckoning Navigation for Walking Robots
  G.P. Roston and E. Krotkov
  tech. report CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991. [Abstract]
  Download: pdf [1091 KB] copyrighted

• Perception of rugged terrain for a walking robot: true confessions and new directions
  R. Hoffman and E. Krotkov
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 3, November, 1991, pp. 1505 - 1510. [Abstract]
  Download: pdf [505 KB] copyrighted

• Leveling of the AMBLER Walking Machine: A Comparison of Methods
  P.G. de Santos, P.V. Nagy, and W.L. Whittaker
  tech. report CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Ambler: a six-legged planetary rover
  E. Krotkov, J. Bares, T. Kanade, T. Mitchell, R. Simmons, and W.L. Whittaker
  Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, June, 1991, pp. 717 - 722. [Abstract]
  Download: pdf [553 KB] copyrighted

• A Three-Finger Gripper for Manipulation in Unstructured Environments
  C. Francois, K. Ikeuchi, and M. Hebert
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991, pp. 2261 - 2265. [Abstract]
  Download: pdf [423 KB] copyrighted

• An integrated walking system for the Ambler planetary rover
  R. Simmons and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2086 - 2091. [Abstract]
  Download: pdf [730 KB] copyrighted

• Laser rangefinder calibration for a walking robot
  E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2568 - 2573. [Abstract]
  Download: pdf [614 KB] copyrighted

• Laser Rangefinder Calibration for a Walking Robot
  E. Krotkov
  tech. report CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [1060 KB] copyrighted

• Assessment of joint driving configurations for body propulsion of an orthogonal legged walker
  D.J. Manko and W.L. Whittaker
  IEEE International Conference on Systems Engineering, August, 1990, pp. 204 - 207. [Abstract]
  Download: pdf [312 KB] copyrighted

• Planning Strategies for the Ambler Walking Robot
  D. Wettergreen, H. Thomas, and C. Thorpe
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203. [Abstract]
  Download: pdf [679 KB] copyrighted

• Walking robot with a circulating gait
  J. Bares and W.L. Whittaker
  Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), Vol. 2, July, 1990, pp. 809 - 816. [Abstract]
  Download: pdf [636 KB] copyrighted

• 1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon
  W.L. Whittaker, T. Kanade, and T. Mitchell
  tech. report CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990. [Abstract]
  Download: pdf [2348 KB] copyrighted

• A perception and manipulation system for collecting rock samples
  T. Choi, H. Delingette, M. DeLuise, Y. Hsin, M. Hebert, and K. Ikeuchi
  1990.
  Download: pdf [780 KB] copyrighted

• Simulation of the Ambler Environment
  H. Thomas, D. Wettergreen, and C. Thorpe
  Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.

• A Perception System for a Planetary Explorer
  M. Hebert, E. Krotkov, and T. Kanade
  Proc. of the 28th IEEE Conference on Decision and Control, Vol. 2, December, 1989, pp. 1151-1156. [Abstract]
  Download: pdf [606 KB] copyrighted

• Motion control for a novel legged robot
  P.V. Nagy and W.L. Whittaker
  Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989, pp. 2 - 7. [Abstract]
  Download: pdf [546 KB] copyrighted

• Ambler: An Autonomous Rover for Planetary Exploration
  J. Bares, M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons, and W.L. Whittaker
  IEEE Computer, Vol. 22, No. 6, June, 1989, pp. 18-26. [Abstract]
  Download: pdf [1004 KB] copyrighted

• Terrain Mapping for a Roving Planetary Explorer
  M. Hebert, C. Caillas, E. Krotkov, I. Kweon, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 997-1002. [Abstract]
  Download: pdf [511 KB] copyrighted