Engineering topics

Larimer, Stanley J.

Publications and source records attributed to Larimer, Stanley J..

5 records

NASA NTRS1990

Agile Walking Robot

Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

Larimer, Stanley J.↗

NASA NTRS1990

Rolling Robot

Proposed rolling robot routinely traverses rough terrain, clearing rocks as high as 1 m. Climbs steps 1 m high and spans ditches 2.3 m wide. Simple but rugged semiautonomous rover has large wheels and articulated body. With combined yaw, roll, and four-wheel drive, robot crawls slowly to pass over soft or sandy terrain. Senses terrain along corridor, chooses path to avoid insurmountable obstacles, and monitors state of vehicle for unexpected hazards.

Larimer, Stanley J.↗

NASA NTRS1990

Rugged Walking Robot

Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

Larimer, Stanley J.↗

NASA NTRS1989

Semi-autonomous design concepts for a Mars rover

Studies of rover mobility and surface rendezvous for a Mars Rover/Sample Return (MRSR) mission have been performed. The objective of these efforts has been to identify and address the most challenging issues and develop the most promising design options for the rover mobility and navigation subsystems. A series of trade studies culminated in three candidate design concepts: a large, but otherwise conventional four-wheel drive vehicle; a sophisticated and agile six-legged walking vehicle; and a greatly simplified legged vehicle. This paper summarizes the key design features for these three concepts. For each design, the approaches to vehicle locomotion, sensing and navigation are discussed first. Timelines are developed for the adopted concepts of operation which constrain the range of the remaining parameters. Estimates of rover mass, volume, and power are provided, and performance is projected for vehicle range, terrain traversibility and navigation accuracy.

Spiessbach, Andrew J.↗

NASA NTRS1989

Simple autonomous Mars walker

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.↗