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Climbing Steep Inclines with a Six-Legged Robot using Locomotion Planning

Janosch Machowinski; Arne Böckmann; Sascha Arnold; Christoph Hertzberg; Steffen Planthaber
In: International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA), May 29, Singapore, Singapore, IEEE, 5/2017.


We present an approach to climb crater walls using the six-legged robot CREX (CRater EXplorer). The control architecture consists of a motion execution engine, a mapper, and a locomotion planner which maintains stability when climbing the crater wall.