Open access
Date
2021Type
- Conference Paper
Abstract
The design of legged robotic systems targeted for climbing on steep terrain is critical for expanding robotic exploration in challenging terrain. While the most advanced quadruped robots show encouraging performance in level locomotion, there is little knowledge on the optimal design for climbing legged robots. In this paper, we investigate the climbing performance of quadrupedal systems with different joint topologies. To this end, we present a quantitative comparison performed in simulations of two robots in different configurations concerning locomotion stability, energy efficiency, and control versatility. Based on the results, optimized nominal stances are selected for each robot, and their climbing locomotion is demonstrated and compared in a virtual deployment. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000501538Publication status
publishedExternal links
Book title
Robotics for Sustainable Future. CLAWAR 2021. Proceedings of 24th International Conference Series on Climbing and Walking RobotsJournal / series
Lecture Notes in Networks and SystemsVolume
Pages / Article No.
Publisher
SpringerEvent
Subject
Legged Robots; Climbing Robots; Simulation Analysis; Topology Design; Robot StabilityOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Conference lecture held on August 31, 2021More
Show all metadata