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University of Maryland walking robot: A design project for undergraduate studentsThe design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.
Document ID
19900017015
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Olsen, Bob (Maryland Univ. College Park, MD, United States)
Bielec, Jim (Maryland Univ. College Park, MD, United States)
Hartsig, Dave (Maryland Univ. College Park, MD, United States)
Oliva, Mani (Maryland Univ. College Park, MD, United States)
Grotheer, Phil (Maryland Univ. College Park, MD, United States)
Hekmat, Morad (Maryland Univ. College Park, MD, United States)
Russell, David (Maryland Univ. College Park, MD, United States)
Tavakoli, Hossein (Maryland Univ. College Park, MD, United States)
Young, Gary (Maryland Univ. College Park, MD, United States)
Nave, Tom (Maryland Univ. College Park, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1990
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CR-186839
NAS 1.26:186839
Accession Number
90N26331
Funding Number(s)
CONTRACT_GRANT: NGT-21-002-800
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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