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Carnegie Mellon Robotics Institute

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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"
}

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