Introduction of SherpaTT – Adaptive Suspension and Locomotion Coordinate Systems
Florian Cordes
series DFKI Documents, volume 15-03, pages 2, Sep/2015. DFKI GmbH.

Zusammenfassung (Abstract) :

The poster presents the hybrid wheeled-leg rover SherpaTT, which is the successor of the rover Sherpa. The rover in its integration state as of September 2015 is presented and the main specifications of the system are provided. SherpaTT has in the current integration status a weight of approximately 115 kg and a square shaped foot print of roughly 1m×1m in its standard pose. Definitions of the three standard poses that maximize the motion range for adaptive processes are given. Furthermore, the main coordinate systems used for different tasks in the locomotion control are described.



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