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The DLR-Crawler: Gaits and Control of an Actively Compliant Hexapod

Görner, Martin and Hirzinger, Gerd (2008) The DLR-Crawler: Gaits and Control of an Actively Compliant Hexapod. In: Proceedings. CLAWAR 2008, 2008-09-08 - 2008-09-10, Coimbra (Portugal).

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This paper presents the control and gait generation for the DLR-Crawler, an actively compliant hexapod based on the fingers of DLR-Hand II. The first gait generation method combines a fixed pattern with a leg extension reflex and an obstacle avoidance reflex. The second method employs leg coordina- tion based on Cruse’s rules and some reflexes to master uneven terrain. Both methods show smooth walking on even ground as well as on gravel.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The DLR-Crawler: Gaits and Control of an Actively Compliant Hexapod
AuthorsInstitution or Email of Authors
Hirzinger, GerdUNSPECIFIED
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:six-legged walking, active compliance control, gait generation
Event Title:CLAWAR 2008
Event Location:Coimbra (Portugal)
Event Type:international Conference
Event Dates:2008-09-08 - 2008-09-10
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:22 Oct 2008
Last Modified:12 Dec 2013 20:33

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