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.
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.