Ambler

The Amber’s legged configuration overcomes three significant liabilities of precedent walkers: complexity of coordination control, resultant energy losses, and redundancy for continued function after loss of some motions. The Amber’s actuator groups are orthogonal; the Ambler can thus level without propelling, can propel without leveling, and exhibits no power coupling between the two. This configuration enables a tractable control model and eliminates the energy loss of actuator conflict. In addition, the Ambler enables energy-efficient overlapping gaits unprecedented by animals and other robot walkers. The Ambler incorporates true functional redundancy it can lose up to two legs and still walk. Other critical issues in the project include perception and locomotion of rugged terrain, self-assessment, safeguarding, gait planning, control, and ultimate self-reliance.