1991 Year End Report Autonomous Planetary Rover

Abstract

This report describes progress in research on an autonomous robot for planetary exploration performed during 1991 at the Robotics Institute, Carnegie Mellon University. The report summarizes the achievements during calendar year 1991, and lists personnel and publications. In addition, it includes several papers resulting from the research. Research in 1991 focused on understanding the unique capabilities of the Ambler mechanism and on autonomous walking in rough, natural terrain. We also designed a sample acquisition system, and began to configure a successor to the Ambler.