Proceedings-Artikel

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. International Conference on Robotics and Automation, May 29, Singapore, Singapore, IEEE, 5/2017.

Abstract

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.

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20170223_Climbing_Steep_Inclines_with_a_Six-Legged_Robot_using_Locomotion_Planning.pdf