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Proceedings Paper

The Evolution Of Odetics Walking Machine Technology
Author(s): Stephen J. Bartholet
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Paper Abstract

The development of the Odetics walking machine technology is presented from the original concept aimed at feasibility demonstration through advanced designs with specific mission applications. The high power efficiency and high strength-to-weight ratio features of the original leg designs are presented along with the hierarchical control concepts. The evolutionary development of improved gait control for faster, smoother walking, and the demands imposed by uneven terrain and stair climbing are discussed. Sensor integration for motion control and vision for teleoperation are covered, as is operator control station design. Specific walker design concepts to accomplish nuclear power plant maintenance and a Mars Rover mission are presented. The nuclear power plant design integrates a six-degree of freedom manipulator arm onto an improved design walker with a fiber-optic link to the operator control station. The Mars Rover mission concept is aimed at maximum packaging density, light weight and high mobility on steep and soft terrain while minimizing power consumption.

Paper Details

Date Published: 25 February 1987
PDF: 7 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987);
Show Author Affiliations
Stephen J. Bartholet, Advanced Intelligent Machines Division of Odetics, Inc. (United States)

Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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