Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
Автор: Robotic Systems Lab: Legged Robotics at ETH Zürich
Загружено: 2021-06-10
Просмотров: 8885
We present experimental work on traversing steep, granular slopes with the dynamically walking quadrupedal robot SpaceBok. We validate static and dynamic locomotion with two different foot types (point foot and passive-adaptive planar foot) on Mars analog slopes of up to 25°(the maximum of the testbed). Tests were performed at the ExoMars locomotion validation testbed located at RUAG, Switzerland. The soil used in this experiment is called "ES-3", a martian soil analog (coarse, poorly-sorted, well-graded sand).
Authors: Hendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Bickel, Benjamin Sun, Christoph Meyer and Marco Hutter
Field Robotics, 2021
https://arxiv.org/abs/2106.01974
Part of the thesis "Quadrupedal Robots for Planetary Exploration":
https://www.research-collection.ethz....
For more information visit:
rsl.ethz.ch
ruag.com
This work would not have been possible without the generous offer to perform testing at RUAG Space and the support from Philipp Oettershagen and his team.
This work has been supported by the European Space Agency (ESA) and Airbus DS in the framework of the Network Partnering Initiative 481-2016 and the Swiss Space Center as part of the Call for Ideas 2019.
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