Abstract
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.
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© 2005 Springer-Verlag Berlin Heidelberg
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Bretl, T., Latombe, JC., Rock, S. (2005). Toward Autonomous Free-Climbing Robots. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_2
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DOI: https://doi.org/10.1007/11008941_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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