Motion planning for a six-legged lunar robot


Conference Paper

This paper studies the motion of a large and highly mobile six-legged lunar vehicle called ATHLETE, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible, but can use the wheels as feet to walk when necessary. While gaited walking may suffice for most situations, rough and steep terrain requires novel sequences of footsteps and postural adjustments that are specifically adapted to local geometric and physical properties. This paper presents a planner to compute these motions that combines graph searching techniques to generate a sequence of candidate footfalls with probabilistic sample-based planning to generate continuous motions to reach them. The viability of this approach is demonstrated in simulation on several example terrains, even one that requires rappelling. © 2008 Springer-Verlag Berlin Heidelberg.

Full Text

Duke Authors

Cited Authors

  • Hauser, K; Bretl, T; Latombe, JC; Wilcox, B

Published Date

  • October 20, 2008

Published In

Volume / Issue

  • 47 /

Start / End Page

  • 301 - 316

Electronic International Standard Serial Number (EISSN)

  • 1610-742X

International Standard Serial Number (ISSN)

  • 1610-7438

International Standard Book Number 13 (ISBN-13)

  • 9783540684046

Digital Object Identifier (DOI)

  • 10.1007/978-3-540-68405-3_19

Citation Source

  • Scopus