Periodic gaits for the CMU Ambler
作者:
Suren N. Dwivedi,
Swaminathan Mahalingam,
期刊:
Journal of Robotic Systems
(WILEY Available online 1992)
卷期:
Volume 9,
issue 1
页码: 1-15
ISSN:0741-2223
年代: 1992
DOI:10.1002/rob.4620090102
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractThe configuration of the Carnegie‐Mellon University Ambler, a six‐legged autonomous walking vehicle for exploring Mars, enables the recovery of a trailing leg past the leading leg to reduce the energy expenditure in terrain interactions. In this article, gaits developed for this unprecedented configuration are described. A stability criterion has been developed that ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities and continuously satisfy the stability criter
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