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Ambler: Performance of a six-legged planetary rover

Authors
Journal
Acta Astronautica
0094-5765
Publisher
Elsevier
Publication Date
Volume
35
Issue
1
Identifiers
DOI: 10.1016/0094-5765(94)00078-z

Abstract

Abstract In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

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