Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Kentaro Uno, Giorgio Valsecchi, Marco Hutter, Kazuya Yoshida

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics for Sustainable Future, CLAWAR 2021
編集者Daisuke Chugo, Mohammad Osman Tokhi, Manuel F. Silva, Taro Nakamura, Khaled Goher
出版社Springer Science and Business Media Deutschland GmbH
ページ179-191
ページ数13
ISBN(印刷版)9783030862930
DOI
出版ステータスPublished - 2022
イベント24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 - Virtual, Online
継続期間: 2021 8 302021 9 1

出版物シリーズ

名前Lecture Notes in Networks and Systems
324 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

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