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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This project is no longer active.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, April, 1996, pp. 155-180.
    Details

  • Ambler: Performance of a Six-Legged Planetary Rover

    Eric Krotkov, Reid Simmons, and William (Red) L. Whittaker
    Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81.
    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, June, 1989, pp. 18-26.
    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