Ambler

 

General description of the walking machine project

Name of the walking machine/project: Ambler
Begin and end of the Project: Jan. 1988 - Dec. 1992
Project costs: several million dollars
Building effort [person years]: about 50
Source of financial support: NASA

Research group

Planetary Rover Group, School of Computer Science

Staff of the project:

Dr. W. Whittaker (director)
Dr. R. Simmons (director)
Dr. E. Krotkov (director)

Information via www: http://www.cs.cmu.edu/afs/cs.cmu.edu/user/epk/www/home.html

Contact address:

Dr. Reid Simmons, Carnegie Mellon University, Robotics Institute
500 Forbes Avenue, Pittsburgh, Pennsilvania 15213-3891, USA
Tel: ++1 412 268 2621, Fax: ++1 412 268 5576, Email: reids@cs.cmu.edu

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 3,5m Max. Speed 0,3 m/s Number of legs 6 Energy supply permanent magnet DC motors
Height 4-6m Weight 2050kg Act. degrees of freedom 18 Power supply batteries, propane generator
Width 4,5m Load 1000kg Pas. degrees of freedom 0 Power consumption 1900Watt

References

[Hoffman and Krotkov, 1992], [Krotkov, 1990], [Krotkov et al., 1995], [Simmons et al., 1991], [Simmons and Krotkov, 1991a], [Simmons, 1992], [Simmons and Krotkov, 1993a]

Autonomous Modular Walking Vehicle

General description of the walking machine project

Name of the walking machine/project: Autonomous Modular Walking Vehicle
Begin and end of the Project: Jan-96 to April 97
Project costs:
Building effort [person years]:
Source of financial support:

Research group

Staff of the project:

Dylan Horvath (dhorvath@novice.uwaterloo.ca)
Stef Williams (s2willia@novice.uwaterloo.ca)
Jeff Lee (jplee@systems.uwaterloo.ca)

Information via www: http://real.uwaterloo.ca/~robot

Contact address:

Dylan Horvath, Department Systems design Engineering, University Waterloo
200 University Avenue West, Waterloo, Ontario, Canada N2L 3G1
Tel: ++ 1 519 888-4567 , Fax: ++ 1 519 884-8009, Email: dhorvath@novice.uwaterloo.ca

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 0.61m Max. speed 1cm/s Number of legs 6 Energy supply Nickel MiH rechargeable power packs
Height 0.3m Weight 4.5kg Act. degrees of freedom 18 Power supply 12V DC
Width 0.46m Load 2.5kg Pas. degrees of freedom 0 Power consumption

References

Adaptive Suspension Vehicle

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General description of the walking machine project

Name of the walking machine/project: Adaptive Suspension Vehicle
Begin and end of the Project: 1982 - 1990
Project costs:
Mechanics:   USD 500000
Sensors/actuators:   USD 7500000
Building effort: 50
(person-year)
Source of financial support:Defense Advanced Research Projects Agency, US DOD

Research group

Staff of the project:

Information via www:

Contact address:

Dr. K. J. Waldron, The Ohio State Univiversity
M. E. Dept, Robinson Lab, W 18th st, Columbus, Ohio, USA
Tel: ++1 614 292-0500, Fax: Email: vvohnout@magnus.acs.ohio-state.edu

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 5.2m Max. speed 2.3m/s Number of legs 6 Energy supply gasoline IC 4 cyl engine
Height 3m Weight 3200kg Act. degrees of freedom 18 Power supply hydraulic
Width 2.4m Load 220kg Pas. degrees of freedom 6 Power consumption 50 hp ave

References

[Song and Waldron, 1989

Aquarobot

General description of the walking machine project

Name of the walking machine/project: Aquarobot
Begin and end of the Project: 1985 - 1989
Project costs:
Mechanics: ??? (Deutsche Mark)
Sensors/actuators: ???
Building effort: ???
(person-year)
Source of financial support:???

Research group

Robotics Laboratory, Port and Harbour Research Institute
Ministry of Transport, Japan

Staff of the project:

J. Akizono
M. Iwasaki
T. Nemoto
O. Asakura

Information via www: ???

Contact address:

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length ??? Max. speed 0.13m/s Number of legs 6 Energy supply DC-servos
Height ??? Weight 680kg Act. degrees of freedom 18 Power supply ???
Width ??? Load 70kg Pas. degrees of freedom ??? Power consumption ???

References

[Akizono et al., 1989]

Attila-II

General description of the walking machine project

Name of the walking machine/project: Attila-II
Begin and end of the Project: ???
Project costs:
Building effort [person years]:
Source of financial support:

Research group

IS Robotics Corporation, Westlake Village, California

Staff of the project:

Rodney Brooks, MIT

Information via www: http://www.html

Contact address: email:brooks@ai.mit.edu

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 35.5cm Max. speed 3km/h Number of legs 4 Energy supply batteries
Height 20.3cm Weight 1.5kg Act. degrees of freedom 24 Power supply ???
Width 30.5cm Load 150g Pas. degrees of freedom ???Power consumption ???

References

[Brooks, 1989, Dechau and Psihoyos, 1991]

Autopod 0.33

General description of the walking machine project

Name of the walking machine/project: Autopod 0.33
Begin and end of the Project: January 1996 - December 1996
Project costs:
Building effort [person years]: 1
Source of financial support:private

Research group

Staff of the project:

Dr. Jan Henri Cocatre-Zilgien

Information via www: http://www.prairienet.org/~cocatrez/ap033txt.htm

Contact address:

Dr. Jan Henri Cocatre-Zilgien
802 East California Avenue, Urbana IL 61801-4342, USA
Tel: ++1 (217) 344-8472, Fax: ++1 (217) 344-8472 Email: cocatrez@prairienet.org

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 1.0m Max. speed Number of legs 2 Energy supply pneumatic 5 bar from 210 bar tank accumulator
Hight 0.7m Weight 25kg Act. degrees of freedom 6 Power supply
Width 1.0m Load 10kg Pas. degrees of freedom 2 passiv wheels Power consumption

References

for more information see http://www.prairienet.org/~cocatrez/ap033txt.htm