NASA NTRS · 19900000664
Rolling Robot
Abstract
Proposed rolling robot routinely traverses rough terrain, clearing rocks as high as 1 m. Climbs steps 1 m high and spans ditches 2.3 m wide. Simple but rugged semiautonomous rover has large wheels and articulated body. With combined yaw, roll, and four-wheel drive, robot crawls slowly to pass over soft or sandy terrain. Senses terrain along corridor, chooses path to avoid insurmountable obstacles, and monitors state of vehicle for unexpected hazards.
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Larimer, Stanley J., Lisec, Thomas R., Spiessbach, Andrew J.. 1990-12-01. Rolling Robot. https://ntrs.nasa.gov/citations/19900000664
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