Toward autonomous free-climbing robots

Tim Bretl, Jean Claude Latombe, Stephen Rock

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)6-15
Number of pages10
JournalSpringer Tracts in Advanced Robotics
StatePublished - 2005
Externally publishedYes

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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