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Towards an Autonomous Walking Robot for Planetary Surfaces

Görner, Martin and Chilian, Annett and Hirschmüller, Heiko (2010) Towards an Autonomous Walking Robot for Planetary Surfaces. i-SAIRAS 2010, Sapporo, Japan, 29. Aug. - 1. Sep. 2010, Sapporo, Japan.

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Abstract

In this paper, recent progress in the development of the DLR Crawler - a six-legged, actively compliant walking robot prototype - is presented. The robot implements a walking layer with a simple tripod and a more complex biologically inspired gait. Using a variety of proprioceptive sensors, different reflexes for reactively crossing obstacles within the walking height are realised. On top of the walking layer, a navigation layer provides the ability to autonomously navigate to a predefined goal point in unknown rough terrain using a stereo camera. A model of the environment is created, the terrain traversability is estimated and an optimal path is planned. The difficulty of the path can be influenced by behavioral parameters. Motion commands are sent to the walking layer and the gait pattern is switched according to the estimated terrain difficulty. The interaction between walking layer and navigation layer was tested in different experimental setups.

Document Type:Conference or Workshop Item (Paper)
Title:Towards an Autonomous Walking Robot for Planetary Surfaces
Authors:
AuthorsInstitution or Email of Authors
Görner, MartinUNSPECIFIED
Chilian, AnnettUNSPECIFIED
Hirschmüller, HeikoUNSPECIFIED
Date:August 2010
Status:Published
Keywords:autonomous walking robot, DLR Crawler, visual odometry, navigation
Event Title:i-SAIRAS 2010, Sapporo, Japan
Event Location:Sapporo, Japan
Event Type:international Conference
Event Dates:29. Aug. - 1. Sep. 2010
Organizer:Jaxa
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 - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Martin Görner
Deposited On:21 Dec 2010 12:16
Last Modified:21 Dec 2010 12:16

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