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Carnegie Mellon Robotics Institute

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Abstract

The goal of the planetary rover project is to prototype an autonomous mobile robot for planetary exploration. The authors have constructed a six-legged walking robot, called the Ambler, that features orthogonal legs, an overlapping gait, and a scanning laser rangefinder to model terrain. To enable the Ambler to walk over rugged terrain, they have combined perception, planning, and real-time control into a comprehensive robotic system.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Ambler

Text Reference

Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons, and William (Red) L. Whittaker, "Ambler: a six-legged planetary rover," Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 717 - 722.

BibTeX Reference

@inproceedings{Krotkov_1991_3547,
   author = "Eric Krotkov and John Bares and Takeo Kanade and Tom Mitchell and Reid Simmons and William (Red) L. Whittaker",
   title = "Ambler: a six-legged planetary rover",
   booktitle = "Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91)",
   pages = "717 - 722",
   month = "June",
   year = "1991",
   volume = "1",
}

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