Configuration of Autonomous Walkers for Extreme Terrain

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Abstract
Robots that can competently, efficiently, and autonomously operate in extreme terrain do not exist. Although walking locomotion offers unique advantages, existing walking mech anisms are not suited to the comprehensive requirements of extreme terrain autonomy. This work synthesizes and ana lyzes candidate walker configurations, implements and tests a walker of unprecedented capability and design, and devel ops insights regarding walker configuration and the class of orthogonal-legged walking robots. Three orthogonal-legged walker configurations are described and compared in a variety of terrain situations. Two of the configurations-circulating and weaving-are unique, as they place recovering feet ahead of supporting feet and are specifically notable for their long stride. The third uses a traditional follow-the-leader gait. The Ambler is a fully operable autonomous walking robot built in part to further investigate the benefits of the orthogonal leg and circulating gait configuration. The orthogonal leg appears to be well suited to autonomous walking in extreme terrain. A circulating walker's advantages—as demonstrated by the Am bler-notwithstanding, a follow-the-leader orthogonal-legged walker appears to have superior overall mobility and stability (the crucial capabilities in extreme terrain).

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