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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.

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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.

Associated centers: VASC and FRC
Associated project: Ambler

E. Krotkov and R. Simmons, "Performance of a six-legged planetary rover: power, positioning, and autonomous walking," IEEE International Conference on Robotics and Automation, Vol. 1, May, 1992, pp. 169 - 174.

@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",
   month = "May",
   year = "1992",
   volume = "1",
   pages = "169 - 174"
}