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Open access
Datum
2023Typ
- Conference Paper
ETH Bibliographie
yes
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Abstract
Scientific exploration of planetary bodies is an
activity well-suited for robots. Unfortunately, the regions that
are richer in potential discoveries, such as impact craters, caves,
and volcanic terraces, are hard to access with wheeled robots.
Recent advances in legged-based approaches have shown the
potential of the technology to overcome difficult terrains such as
slopes and slippery surfaces. In this work, we focus on locomo-
tion for sandy slopes, comparing standard walking policies with
a novel crawling-based gait for quadrupedal robots. We fine-
tuned a state-of-the-art locomotion framework and introduced
hardware modifications to the robot ANYmal, which enables
walking on its knees. Moreover, we integrated a novel metric
for stability, the stability margin, in the training process to
increase robustness in such conditions. We benchmarked the
locomotion policies in simulation and in real-world experiments
on a martian soil simulant. Our results show a significant
improvement in terms of robustness and stability, especially
at higher slope angles beyond 15 degrees. Mehr anzeigen
Persistenter Link
https://doi.org/10.3929/ethz-b-000625001Publikationsstatus
publishedExterne Links
Buchtitel
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Seiten / Artikelnummer
Verlag
IEEEKonferenz
Thema
ROBOTICS; ROBOT CONTROL; Design; Space roboticsOrganisationseinheit
02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems
09570 - Hutter, Marco / Hutter, Marco
ETH Bibliographie
yes
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