Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Kentaro Uno, Giorgio Valsecchi, Marco Hutter, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationRobotics for Sustainable Future, CLAWAR 2021
EditorsDaisuke Chugo, Mohammad Osman Tokhi, Manuel F. Silva, Taro Nakamura, Khaled Goher
PublisherSpringer Science and Business Media Deutschland GmbH
Pages179-191
Number of pages13
ISBN (Print)9783030862930
DOIs
Publication statusPublished - 2022
Event24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 - Virtual, Online
Duration: 2021 Aug 302021 Sep 1

Publication series

NameLecture Notes in Networks and Systems
Volume324 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021
CityVirtual, Online
Period21/8/3021/9/1

Keywords

  • Climbing robots
  • Legged robots
  • Robot stability
  • Simulation analysis
  • Topology design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications

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