Twin Rigid-Frames Walking Microrovers – A Perspective for Miniaturisation

N. Amati; M. Chiaberge; E. Miranda; L. M. Reyner (1999), JBIS, 52, 301-304

Refcode: 1999.52.301

Abstract:
A working demonstrator is presented for a slow, small size, walking planetary robotic rover based on RoSA/M specifications. The layout of the machine, based on two rigid frames with three legs each and using an alternate tripod gait, is shown to yield the required performances while complying with the specified constraints. The present article discusses the miniaturisation potentialities of this type of walking machine and assesses some utilisation scenarios.