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Title:
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Axel |
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Author:
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Abad-Manterola, Pablo; Edlund, Jeff; Burdick, Joel; Wu, Albert; Oliver, Thomas; Nesnas, Issa; Cecava, Johanna |
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Department:
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Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics |
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Publisher:
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Institute of Electrical and Electronics Engineers |
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Issue Date:
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2009-12 |
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Abstract:
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Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic rover. Axel is a lightweight two-wheeled vehicle that can access steep terrains and negotiate relatively large obstacles because of its actively managed tether and novel wheel design. This article reviews the Axel system and focuses on those system components that affect Axel's steep terrain mobility. Experimental demonstrations of Axel on sloped and rocky terrains are presented. |
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URI:
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http://hdl.handle.net/1721.1/58853
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Other Identifiers:
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INSPEC Accession Number: 11019891 |
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ISSN:
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1070-9932 |
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Citation:
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Abad-Manterola, P. et al. “Axel.” Robotics & Automation Magazine, IEEE 16.4 (2009): 44-52. © Copyright 2010 IEEE |
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Version:
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Final published version |
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Terms of Use:
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. |
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Published as:
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http://dx.doi.org/10.1109/MRA.2009.934821
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Journal:
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IEEE Robotics & Automation Magazine |
