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. IEEE International Conference on Robotics and Automation (ICRA) May 29 Singapore Singapore IEEE 5/2017.


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.


20170223_Climbing_Steep_Inclines_with_a_Six-Legged_Robot_using_Locomotion_Planning.pdf (pdf, 3 MB )

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz