Climbing Steep Inclines with a Six-Legged Robot using Locomotion Planning

Janosch Machowinski,Arne Boeckmann,Sascha Arnold,Christoph Hertzberg,Steffen Planthaber

semanticscholar（2017）

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Abstract

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.

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