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

Kurzfassung

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.