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Proceedings Paper

Steering and control of a passively articulated robot
Author(s): Benjamin Shamah; Michael D. Wagner; Stewart Moorehead; James Teza; David Wettergreen; William L. Whittaker
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Paper 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.

Paper Details

Date Published: 4 October 2001
PDF: 12 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444150
Show Author Affiliations
Benjamin Shamah, Carnegie Mellon Univ. (United States)
Michael D. Wagner, Carnegie Mellon Univ. (United States)
Stewart Moorehead, Carnegie Mellon Univ. (United States)
James Teza, Carnegie Mellon Univ. (United States)
David Wettergreen, Carnegie Mellon Univ. (United States)
William L. Whittaker, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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