Improved Locomotion Capabilities for Quadrupeds Through Active Multi-Point-Contact Feet
Alexander Dettmann, Daniel Kuehn, Frank Kirchner
In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), (ICCAR-2018), 20.4.-23.4.2018, Auckland, IEEE, Apr/2018.
With increasing mechanization of our daily lives,
the expectations and demands in robotic systems increase in
the general public and in scientists alike. Especially, hazardous
environments such as exploration of extraterrestrial planets or
nuclear disaster sites demand robotic solutions with locomotion
capabilities in unstructured terrain. Four-legged systems can
provide the desired mobility. The hominid robot Charlie has, in
contrast to most quadrupeds, an active ankle joint with Multi-
Contact-Point-Feet to support four-legged as well as two-legged
locomotion. In this paper, the advantages of this foot design for
four-legged locomotion is analyzed.
The paper summarizes briefly Charlie’s hardware and software
components. In detail, the foot design and the behavior
modules which utilize the possibilities of actively controlled
Multi-Contact-Point-Feet are described. The experimental results
show that a positive effect on traction and range of motion
are achieved which improve the mobility of quadrupeds.