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Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot

by Gerald P. Roston, Carnegie Mellon Univ, Pittsburgh, United States,
Kevin Dowling, Carnegie Mellon Univ, Pittsburgh, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

An often overlooked, though critical, component of a mobile robot is the drivetrain. To achieve the ambitious programmatic goals of an extra-terrestrial, planetary robotic explorer, a rover's drivetrain must be both highly efficient and robust. This paper describes the design of the drivetrain for the Daedalus robot. This drivetrain uses a maximally efficient gearing ratio and redundant components to achieve the stated goals of efficiency and reliability.

Subject Headings: Automation and robotics | Space structures | Space frames | Space exploration | Moon | Flight

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