Share Email Print
cover

Proceedings Paper

Simple Autonomous Mars Walker
Author(s): Stanley J. Larimer; Thomas R. Lisec; Andrew J. Spiessbach
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the "Walking Beam", is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5 meter beam to propel the vehicle. The semi-autonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Paper Details

Date Published: 10 March 1989
PDF: 8 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949088
Show Author Affiliations
Stanley J. Larimer, Martin Marietta Astronautics (United States)
Thomas R. Lisec, Martin Marietta Astronautics (United States)
Andrew J. Spiessbach, Martin Marietta Astronautics (United States)


Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

© SPIE. Terms of Use
Back to Top