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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.
| Item URL in elib: | https://elib.dlr.de/55747/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 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 | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| 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 (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 (until 2012) > Robotic Systems | |||||||||
| Deposited By: | Klauer, Monika | |||||||||
| Deposited On: | 22 Oct 2008 | |||||||||
| Last Modified: | 12 Dec 2013 20:33 |
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