Steering and Control of a Passively Articulated Robot

Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen, and William (Red) L. Whittaker
SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, October, 2001.


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Abstract
The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass robot configurations. Hyperion is a rover designed and built for experiments in sun-synchronous exploration. This paper details Hyperion?s steering mechanism and control, which features 4-wheel independent drive and an innovative passively articulated steering joint for locomotion.

Keywords
Hyperion robot, steering, sun-synchrony

Notes
Sponsor: NASA
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Sun Synchronous Navigation
Note: revised and corrected version - replaces conference proceedings

Text Reference
Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen, and William (Red) L. Whittaker, "Steering and Control of a Passively Articulated Robot," SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, October, 2001.

BibTeX Reference
@inproceedings{Shamah_2001_3872,
   author = "Benjamin Shamah and Michael D Wagner and Stewart Moorehead and James Teza and David Wettergreen and William (Red) L. Whittaker",
   title = "Steering and Control of a Passively Articulated Robot",
   booktitle = "SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV",
   month = "October",
   year = "2001",
   volume = "4571",
   Notes = "revised and corrected version - replaces conference proceedings"
}