Development and Control of the Multi-Legged Robot Mantis
Sebastian Bartsch, Marc Manz, Peter Kampmann, Alexander Dettmann, Hendrik Hanff, Malte Langosz, Kai von Szadkowski, Jens Hilljegerdes, Marc Simnofske, Philipp Kloss, Manuel Meder, Frank Kirchner
In Proceedings of ISR 2016: 47st International Symposium on Robotics, (ISR-2016), 21.6.-22.6.2016, München, VDE VERLAG GmbH, pages 379-386, Jun/2016. ISBN: 978-3-8007-4231-8.
Abstract
:
This paper presents the multi-legged robot MANTIS which is developed within the project LIMES at the DFKI RIC and
the University of Bremen. In particular, we describe the mechanical design, the sensor setup, electronics and computing
hardware. Furthermore we give a short introduction to the software framework for simulation-based motion behavior generation
and optimization for such kinematically complex robots as well as to the online locomotion control and evaluation
approach for context based utilization and adaptation of these behaviors. Finally, applied methodologies and experiments
allowing to assess and reduce the difference between observed and simulated behavior of the robot and its subsystems are
presented.
Files:
ISR_2016_MANTIS_small.pdf