In: International Journal of Advanced Robotic Systems, Vol. 11, Pages 1-15, InTechOpen, 2014.
Abstract
Today’s and future space missions deal with increasing requirements regarding autonomy and flexibility in the locomotor system. To cope with these requirements, a higher bandwidth of sensor information is needed. Within this paper a robotic system is presented, equipped with artificial feet and spine incorporating increased sensing capabilities for walking robots. In the proposed quadrupedal robotic system, the front and rear part are connected via an actuated spinal structure with six degrees of freedom. In order to increase the robustness of the systems locomotion in terms of traction and stability, a foot-like structure equipped with various sensors has been developed. In terms of distributed local control, both structures are as self-contained as possible with regard to sensing, sensor preprocessing, control, and communication. This allows the robot to respond rapidly to occurring events with minor latency.
@article{pub7360,
author = {
Kuehn, Daniel
and
Bernhard, Felix
and
Burchardt, Armin
and
Schilling, Moritz
and
Stark, Tobias
and
Zenzes, Martin
and
Kirchner, Frank
},
title = {Distributed Computation in a Quadrupedal Robotic System},
year = {2014},
volume = {11},
pages = {1--15},
journal = {International Journal of Advanced Robotic Systems},
publisher = {InTechOpen}
}
German Research Center for Artificial Intelligence Deutsches Forschungszentrum für Künstliche Intelligenz
