Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Autor:	Marco Hutter, Kentaro Uno, Giorgio Valsecchi, Kazuya Yoshida
Přispěvatelé:	Chugo, Daisuke, Osman Tokhi, Mohammad, Silva, Manuel F., Nakamura, Taro, Goher, Khaled
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	Optimal design Robot Stability Computer science Terrain Climbing Robots Network topology Legged Robots Simulation Analysis Topology Design Software deployment Quadrupedalism Climbing Robot Simulation Efficient energy use ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	Robotics for Sustainable Future ISBN: 9783030862930 CLAWAR Lecture Notes in Networks and Systems, 324 Robotics for Sustainable Future. CLAWAR 2021. Proceedings of 24th International Conference Series on Climbing and Walking Robots
ISSN:	2367-3389 2367-3370
DOI:	10.3929/ethz-b-000501538
Popis:	The design of legged robotic systems targeted for climbing on steep terrain is critical for expanding robotic exploration in challenging terrain. While the most advanced quadruped robots show encouraging performance in level locomotion, there is little knowledge on the optimal design for climbing legged robots. In this paper, we investigate the climbing performance of quadrupedal systems with different joint topologies. To this end, we present a quantitative comparison performed in simulations of two robots in different configurations concerning locomotion stability, energy efficiency, and control versatility. Based on the results, optimized nominal stances are selected for each robot, and their climbing locomotion is demonstrated and compared in a virtual deployment. Lecture Notes in Networks and Systems, 324 ISSN:2367-3389 ISSN:2367-3370 Robotics for Sustainable Future. CLAWAR 2021. Proceedings of 24th International Conference Series on Climbing and Walking Robots ISBN:978-3-030-86293-0 ISBN:978-3-030-86294-7
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cc211f6048db4aa7436e308319785790 Zobrazit plný text záznamu