Steering and control of a passively articulated robot

Benjamin Shamah; Michael D. Wagner; Stewart Moorehead; James Teza; David Wettergreen; William L. Whittaker

doi:10.1117/12.444150

4 October 2001 Steering and control of a passively articulated robot

Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen, William L. Whittaker

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444150
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass robot configurations. Hyperion is a rover designed and built for experiments in sun-synchronous exploration. This paper details Hyperion's steering mechanism and control, which features 4-wheel independent drive and an innovative passively articulated steering joint for locomotion.

Citation Download Citation

Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen, and William L. Whittaker "Steering and control of a passively articulated robot", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444150

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