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.
- Dynamic Systems and Control Division
Sliding Gait Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)
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Townsend, J, & Biesiadecki, J. "Sliding Gait Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 51-58. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8505
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