Distributed Compliance Controllers for Legged- Robot with Geared Brushless DC Joints DFKI Bremen & Universität Bremen Robotics Innovations Center Director: Prof. Dr. Frank Kirchner www.dfki.de/robotics [email protected]Lan Yue Ji, Sebatian Bartsch, Frank Kirchner ASTRA 2011
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Distributed Compliance Controllers for Legged- Robot with ...robotics.estec.esa.int/ASTRA/Astra2011/Presentations/Session 7A/04_ji.pdf · Distributed Compliance Controllers for Legged-Robot
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Development of a six-legged, biologically-inspired, energy efficient, and adaptable free climbing robot for extraterrestrial exploration
The system has to be able to
► move freely and securely in crater environment
► cope with inclinations up to 80%
► navigate semi-autonomous
► carry a scientific payload
Future space qualification has to be taken into account
• Funding:
The project SpaceClimber is funded by the German Space Agency (DLR, Grant number: 50RA0705) and the European Space Agency ESA (Contract no.: 18116/04/NL/PA)
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• Multitude of concepts for robots that could provide mobility in crater
environments (e.g. wheels, tracks, legged-wheels and robot teams)
• Walking systems offer the highest mobility
Trajectories with partial ground contact (no bulldozing, negotiate obstacles)