Athlete: A cargo handling and manipulation robot for the moon: Research Articles

Authors:
Brian H. Wilcox;Todd Litwin;Jeff Biesiadecki;Jaret Matthews;Matt Heverly;Jack Morrison;Julie Townsend;Norman Ahmad;Allen Sirota;Brian Cooper
Affiliations:
Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 303-300 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 198-219 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 198-219 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 107-102 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 107-102 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 198-219 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 82-105 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 107-102 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 107-102 Pasadena, CA 91109;Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. M/S 107-102 Pasadena, CA 91109
Venue:
Journal of Field Robotics - Special Issue on Space Robotics, Part III
Year:
2007

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Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains

Autonomous Robots

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Abstract

A robotic vehicle called ATHLETE—the All-Terrain Hex-Limbed, Extra-Terrestrial Explorer—is described, along with initial results of field tests of two prototype vehicles. This vehicle concept is capable of efficient rolling mobility on moderate terrain and walking mobility on extreme terrain. Each limb has a quick-disconnect tool adapter so that it can perform general-purpose handling, assembly, maintenance, and servicing tasks using any or all of the limbs. © 2007 Wiley Periodicals, Inc.