Perception, Planning, and Control for Walking on Rugged Terrain
Perception, Planning, and Control for Walking on Rugged Terrain
- New search for: R. Simmons
- New search for: E. Krotkov
- New search for: R. Simmons
- New search for: E. Krotkov
The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.
Document information
Perception, Planning, and Control for Walking on Rugged Terrain
1991
7 pages
Report
No indication
English
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