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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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Abstract
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 | ||||||
| Authors: |
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| Date: | 2008 | ||||||
| Journal or Publication Title: | Proceedings | ||||||
| Refereed publication: | Yes | ||||||
| In ISI Web of Science: | No | ||||||
| Status: | Published | ||||||
| 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 | ||||||
| HGF - Program: | Space | ||||||
| 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: | 15 Jan 2010 00:13 |
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