AMBLER - PERFORMANCE OF A 6-LEGGED PLANETARY ROVER

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like te rrain. We present power consumption measures for walking on sandy terr ain and for vertical lifts at different velocities. We document the pe rformance of a novel dead-reckoning approach, and analyze its accuracy . We describe the results of autonomous walking experiments in terms o f terrain traversed, walking speed and endurance.