Performance of a six-legged planetary rover: power, positioning, and autonomous walking
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 169 - 174, May, 1992
Abstract
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.
BibTeX
@conference{Krotkov-1992-13367,author = {Eric Krotkov and Reid Simmons},
title = {Performance of a six-legged planetary rover: power, positioning, and autonomous walking},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1992},
month = {May},
volume = {1},
pages = {169 - 174},
}
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