Monitoring And Error Recovery For Autonomous Walking - Robotics Institute Carnegie Mellon University

Monitoring And Error Recovery For Autonomous Walking

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1407 - 1412, July, 1992

Abstract

Robot systems require extreme self-reliance to successfully engage in long-term
autonomous operation. This paper describes techniques developed to provide the necessary reliability for the Ambler, a six-legged robot designed for planetary
exploration. The approach utilizes the Task Control Architecture to incrementally add monitoring and error recovery strategies without having to modify the basic walking competence of the robot. Deliberative and reactive behaviors are combined to deal with the challenges of efficiency and safety imposed by planetary missions. Experimental results of long-term autonomous walking in rough terrain are presented.

BibTeX

@conference{Simmons-1992-122333,
author = {R. G. Simmons},
title = {Monitoring And Error Recovery For Autonomous Walking},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1992},
month = {July},
pages = {1407 - 1412},
}