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Robustheitssteigerung von Laufrobotern bezüglich der Unebenheit des Ter-rains

Robustheitssteigerung von Laufrobotern bezüglich der Unebenheit des Ter-rains

Year: 2017

Section: Robust Design

Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack

Author: Florian Winter, Daniel Schneider, Stefan Landkammer, Rüdiger Hornfeck, Peter Heß, Kristin Paetzold

Series: DfX

Institution: TH Nürnberg

Section: Robust Design

Pages: 087-098

ISBN: 978-3-946094-20-3-8

Abstract

While walking robots theoretically have the advantage of superior off-road capabilities in comparison to tracked or wheeled robots, they also demand tread point planning to live up to their potential. Existing systems either use preventive or reactive environment recognition to decide on tread points. An analysis yielded the reactive approach as more promising, but the analyzed reactive systems are prone to dynamic influences. In this article, a combined reactive and preventive approach to tread point planning without this limita-tion is presented. Applying this approach results in an increased robustness for a walking robot against terrain irregularities, since it uses a switch at each foot point that yields a direct feedback whether each foot has traction or not.

Keywords: walking Robot, collision avoidance, robustness, environment recognition

ds endorsed conferenceDFX 2017 28th SYMPOSIUM DESIGN FOR X, Bamberg, GER, 04-05 OCTOBER, 2017

DFX 2017 28th SYMPOSIUM DESIGN FOR X, Bamberg, GER, 04-05 OCTOBER, 2017The “Symposium Design for X” will be held at the Welcome Kongresshotel, Bamberg, Germany on 4 – 5 October 2017. The annual event provides a platform to young postgraduates to present and discuss their new approaches in the field of product development. Industry professionals and professors will enrich these discussions with their manifold experience. This year's symposium will be hosted by Prof. Sandro Wartzack, head of the chair of engineering design (KTmfk) at the University of Erlangen-Nuremberg....

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SIG Workshop - March 2013