Climbing Steep Inclines with a Six-Legged Robot using Locomotion Planning
Janosch Machowinski, Arne Böckmann, Sascha Arnold, Christoph Hertzberg, Steffen Planthaber
In International Conference on Robotics and Automation, (ICRA), 29.5.2017, Singapore, IEEE, May/2017.

Abstract :

We present an approach to climb crater walls using the six-legged robot CREX (CRater EXplorer). The control architecture consists of a motion execution engine, a mapper, and a locomotion planner which maintains stability when climbing the crater wall.

Files:

20170223_Climbing_Steep_Inclines_with_a_Six-Legged_Robot_using_Locomotion_Planning.pdf


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