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Ambler
This project is no longer active.
Head: William (Red) L. Whittaker
Contact: William (Red) L. Whittaker
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Field Robotics Center (FRC)
Publications
  • Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover

    Eric Krotkov and Reid Simmons
    Intl. Journal of Robotics Research, Vol. 15, No. 2, pp. 155-180, April, 1996.
    Details

  • Ambler: Performance of a Six-Legged Planetary Rover

    Eric Krotkov, Reid Simmons , and William (Red) L. Whittaker
    Acta Astonautica, Vol. 35, No. 1, pp. 75-81, 1995.
    Details | pdf (179KB) | Copyrighted

  • Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler

    Eric Krotkov and Reid Simmons
    3rd International Symposium of Experimental Robotics III, October, 1993.
    Details | pdf (608KB) | Copyrighted

  • Autonomous Walking Results with the Ambler Hexapod Planetary Rover

    Eric Krotkov, Reid Simmons , and William (Red) L. Whittaker
    International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53.
    Details | pdf (302KB) | Copyrighted

  • Terrain Mapping For Long-duration Autonomous Walking

    R. Hoffman and Eric Krotkov
    Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), July, 1992, pp. 563 - 568.
    Details | pdf (678KB) | Copyrighted

  • Performance of a six-legged planetary rover: power, positioning, and autonomous walking

    Eric Krotkov and Reid Simmons
    IEEE International Conference on Robotics and Automation, May, 1992, pp. 169 - 174.
    Details | pdf (603KB) | Copyrighted

  • 1991 Year End Report Autonomous Planetary Rover

    Eric Krotkov, Reid Simmons , and William (Red) L. Whittaker
    tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992
    Details | pdf (3MB) | Copyrighted

  • Leveling of the AMBLER Walking Machine: A Comparison of Methods

    Pablo Gonzalez de Santos, Peter V. Nagy, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991
    Details | pdf (1MB) | Copyrighted

  • Ambler: a six-legged planetary rover

    Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons , and William (Red) L. Whittaker
    Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 717 - 722.
    Details | pdf (553KB) | Copyrighted

  • Laser rangefinder calibration for a walking robot

    Eric Krotkov
    IEEE International Conference on Robotics and Automation, April, 1991, pp. 2568 - 2573.
    Details | pdf (614KB) | Copyrighted

  • An integrated walking system for the Ambler planetary rover

    Reid Simmons and Eric Krotkov
    IEEE International Conference on Robotics and Automation, April, 1991, pp. 2086 - 2091.
    Details | pdf (731KB) | Copyrighted

  • A Three-Finger Gripper for Manipulation in Unstructured Environments

    C. Francois, Katsushi Ikeuchi, and Martial Hebert
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991, pp. 2261 - 2265.
    Details | pdf (424KB) | Copyrighted

  • Perception of rugged terrain for a walking robot: true confessions and new directions

    R. Hoffman and Eric Krotkov
    Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, November, 1991, pp. 1505 - 1510.
    Details | pdf (506KB) | Copyrighted

  • Dead Reckoning Navigation for Walking Robots

    G. P. Roston and Eric Krotkov
    tech. report CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991
    Details | pdf (1MB) | Copyrighted

  • Planning Strategies for the Ambler Walking Robot

    David Wettergreen, H. Thomas, and Chuck Thorpe
    Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203.
    Details | pdf (680KB) | Copyrighted

  • Assessment of joint driving configurations for body propulsion of an orthogonal legged walker

    D.J. Manko and William (Red) L. Whittaker
    IEEE International Conference on Systems Engineering, August, 1990, pp. 204 - 207.
    Details | pdf (313KB) | Copyrighted

  • Walking robot with a circulating gait

    John Bares and William (Red) L. Whittaker
    Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), July, 1990, pp. 809 - 816.
    Details | pdf (637KB) | Copyrighted

  • 1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon

    William (Red) L. Whittaker, Takeo Kanade, and Tom Mitchell
    tech. report CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990
    Details | pdf (2MB) | Copyrighted

  • Laser Rangefinder Calibration for a Walking Robot

    Eric Krotkov
    tech. report CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990
    Details | pdf (1MB) | Copyrighted

  • Simulation of the Ambler Environment

    H. Thomas, David Wettergreen, and Chuck Thorpe
    Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.
    Details

  • A perception and manipulation system for collecting rock samples

    T. Choi, H. Delingette, M. DeLuise, Y. Hsin, Martial Hebert , and Katsushi Ikeuchi
    1990.
    Details | pdf (781KB) | Copyrighted

  • Motion control for a novel legged robot

    Peter V. Nagy and William (Red) L. Whittaker
    Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989, pp. 2 - 7.
    Details | pdf (546KB) | Copyrighted

  • Ambler: An Autonomous Rover for Planetary Exploration

    John Bares, Martial Hebert , Takeo Kanade, Eric Krotkov, Tom Mitchell, Reid Simmons , and William (Red) L. Whittaker
    IEEE Computer, Vol. 22, No. 6, pp. 18-26, June, 1989.
    Details | pdf (1MB) | Copyrighted

  • Terrain Mapping for a Roving Planetary Explorer

    Martial Hebert , C. Caillas, Eric Krotkov, In So Kweon, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 997-1002.
    Details | pdf (511KB) | Copyrighted

  • A Perception System for a Planetary Explorer

    Martial Hebert , Eric Krotkov, and Takeo Kanade
    Proc. of the 28th IEEE Conference on Decision and Control, December, 1989, pp. 1151-1156.
    Details | pdf (607KB) | Copyrighted