1991 Year End Report Autonomous Planetary Rover

This report describes progress in research on an autonomous robot for planetary exploration performed during 1991 at the Robotics Institute, Carnegie Mellon University. The report summarizes the achievements during calendar year 1991, and lists personnel and publications. In addition, it includes several papers resulting from the research. Research in 1991 focused on understanding the unique capabilities of the Ambler mechanism and on autonomous walking in rough, natural terrain. We also designed a sample acquisition system, and began to configure a successor to the Ambler. Understanding Mechanism Capablities In 1991 we concluded an investigation of the interaction between the Ambler and the terrain. This work led to new stability measures, novel force redistribution models, and reactive control schemes. In order to quantify the performance of the Ambler, we measured the power consumption of the Ambler while walking, and while raising and lowering the body. We also calibrated more exactly the kinematics of the mechanism. Autonomous Walking The experimental program in walking on rough terrain continued and expanded. Highlights include the following: 0 Long-term autonomous walking over challenging terrain, including a live demona Autonomous walking outdoors, including night-time navigation. 0 Installation of all computing and electronics on-board the Ambler. stration to sponsors. Sample Acquisition In 1990 we demonstrated sampling capabilities on a testbed separate from the Ambler. In 1991 we designed a sampling system for the Ambler. It consists of a commercial manipulator, a short-range light-stripe sensor, and a storage receptacle. The arm and sensor are mounted on the horizontal link of a leg, rather than underneath a body. This design was not fabricated during 1991 for financial reasons. Configuration of a Successor to the Ambler We began to configure an integrated lander/walker for planetary exploration. This preliminary work is incomplete, and we expect this topic to be one of the central concerns for the research program in 1992.