JPL Technical Report Server

Sliding GAIT Algorithm For The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

Show simple item record Townsend, Julie Biesiadecki, Jeffrey 2013-02-25T20:22:45Z 2013-02-25T20:22:45Z 2012-10-17
dc.identifier.citation 2012 ASME Dynamic Systems and Control Conference: 11th Motion & Vibration Conference, Fort Lauderdale, lorida, October 17-19, 2012 en_US
dc.identifier.clearanceno 12-2595
dc.description.abstract The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012. en_US
dc.subject wheeled mobility systems en_US
dc.subject passive suspension systems en_US
dc.subject terrain anomaly en_US
dc.title Sliding GAIT Algorithm For The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) en_US
dc.type Preprint en_US

Files in this item

This item appears in the following Collection(s)

Show simple item record



My Account