The planner also utilizes sensor information and on-line maps of its environment to satisfy terrain constraints. The gait planner produces a complete plan of actions in the form of a detailed sequence of motion commands. This sequence, comprising a free gait, is sent to the robot, which then moves. Position and status are then noted to indicate whether or not the motion was performed. In implementation, a number of deliberative planners work together to produce a gait plan.
Specialized planners advise in such areas as leg trajectory, footfall selection, and body motion.
Ambler is designed for exploration of extremely rough terrain. It possesses a unique circulating gait that improves energy efficiency and enables tight turning maneuvers. By accounting for configuration, collision, terrain, support and stability constraints, a free circulating gait can be generated for Ambler that propels the robot along the desired path. This gait generation has succeeded in demonstrating long-duration autonomous walking in rough terrain. Telerobotics Program page Please email the site webmaster with any comments, criticisms or corrections for this page.