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Carnegie Mellon Robotics Institute

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Abstract

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

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): Ambler

Text Reference

Eric Krotkov and Reid Simmons, "Performance of a six-legged planetary rover: power, positioning, and autonomous walking," IEEE International Conference on Robotics and Automation, May, 1992, pp. 169 - 174.

BibTeX Reference

@inproceedings{Krotkov_1992_3649,
   author = "Eric Krotkov and Reid Simmons",
   title = "Performance of a six-legged planetary rover: power, positioning, and autonomous walking",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "169 - 174",
   month = "May",
   year = "1992",
   volume = "1",
}

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