The goal of this research is to enable multi-limbed robots to climb vertical rock using techniques similar to those developed by human climbers. This paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It describes a fast planner based on an efficient test of the quasi-static equilibrium of these robots to compute one-step climbing moves. The planner is demonstrated in simulation for both robots. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Bretl, T., Latombe, J. C., & Rock, S. (2005). Toward autonomous free-climbing robots. Springer Tracts in Advanced Robotics, 15, 6–15. https://doi.org/10.1007/11008941_2
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