Periodic gaits for the CMU Ambler | Zendy

Dwivedi Suren N. | Zendy; Mahalingam Swaminathan | Zendy

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Periodic gaits for the CMU Ambler

Author(s) -

Dwivedi Suren N.,

Mahalingam Swaminathan

Publication year - 1992

Publication title -

journal of robotic systems

Language(s) - English

Resource type - Journals

eISSN - 1097-4563

pISSN - 0741-2223

DOI - 10.1002/rob.4620090102

Subject(s) - stability (learning theory) , terrain , gait , engineering , computer science , aeronautics , simulation , physical medicine and rehabilitation , biology , medicine , ecology , machine learning

The 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 criterion.

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