Abstract
The goal of this research is to enable multi-limbed robots to climb vertical rock using techniques similar to those developed by human climbers. This paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It describes a fast planner based on an efficient test of the quasi-static equilibrium of these robots to compute one-step climbing moves. The planner is demonstrated in simulation for both robots.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 6-15 |
| Number of pages | 10 |
| Journal | Springer Tracts in Advanced Robotics |
| Volume | 15 |
| DOIs | |
| State | Published - 2005 |
| Externally published | Yes |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Artificial Intelligence