Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
dc.contributor.author
Uno, Kentaro
dc.contributor.author
Valsecchi, Giorgio
dc.contributor.author
Hutter, Marco
dc.contributor.author
Yoshida, Kazuya
dc.contributor.editor
Chugo, Daisuke
dc.contributor.editor
Osman Tokhi, Mohammad
dc.contributor.editor
Silva, Manuel F.
dc.contributor.editor
Nakamura, Taro
dc.contributor.editor
Goher, Khaled
dc.date.accessioned
2021-10-25T13:04:44Z
dc.date.available
2021-08-20T09:05:27Z
dc.date.available
2021-08-20T09:19:51Z
dc.date.available
2021-10-25T13:04:44Z
dc.date.issued
2021
dc.identifier.isbn
978-3-030-86293-0
en_US
dc.identifier.isbn
978-3-030-86294-7
en_US
dc.identifier.issn
2367-3389
dc.identifier.issn
2367-3370
dc.identifier.other
10.1007/978-3-030-86294-7_16
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/501538
dc.identifier.doi
10.3929/ethz-b-000501538
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Springer
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged Robots
en_US
dc.subject
Climbing Robots
en_US
dc.subject
Simulation Analysis
en_US
dc.subject
Topology Design
en_US
dc.subject
Robot Stability
en_US
dc.title
Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2021-09-04
ethz.book.title
Robotics for Sustainable Future. CLAWAR 2021. Proceedings of 24th International Conference Series on Climbing and Walking Robots
en_US
ethz.journal.title
Lecture Notes in Networks and Systems
ethz.journal.volume
324
en_US
ethz.pages.start
179
en_US
ethz.pages.end
191
en_US
ethz.size
12 p. accepted version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2021)
en_US
ethz.event.location
Takarazuka, Japan
en_US
ethz.event.date
August 30 – September 1, 2021
en_US
ethz.notes
Conference lecture held on August 31, 2021
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Cham
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.date.deposited
2021-08-20T09:05:33Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-10-25T13:04:50Z
ethz.rosetta.lastUpdated
2023-02-06T22:44:18Z
ethz.rosetta.versionExported
true
ethz.COinS
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Conference Paper [35670]