CONFIGURATION OF AUTONOMOUS WALKERS FOR EXTREME TERRAIN

Robots that can competently, efficiently, and autonomously operate in extreme terrain do not exist. Although walking locomotion offers uniqu e advantages, existing walking mechanisms are not suited to the compre hensive requirements of extreme terrain autonomy. This work synthesize s and analyzes candidate walker configurations, implements and tests a walker of unprecedented capability and design, and develops insights regarding walker configuration and the class of orthogonal-legged walk ing robots. Three orthogonal-legged walker configurations are describe d and compared in a variety of terrain situations. Two of the configur ations-circulating and weaving-are unique, as they place recovering fe et ahead of supporting feet and are specifically notable for their lon g stride. The third uses a traditional follow-the-leader gait. The Amb ler is a fully operable autonomous walking robot built in part to furt her investigate the benefits of the orthogonal leg and circulating gai t configuration. The orthogonal leg appears to be well suited to auton omous walking in extreme terrain. A circulating walker's advantages-as demonstrated by the Ambler-notwithstanding, a follow-the-leader ortho gonal-legged walker appears to have superior overall mobility and stab ility (the crucial capabilities in extreme terrain).