Towards Legged Locomotion on Steep Planetary Terrain
Giorgio Valsecchi,
Cedric Weibel,
Hendrik Kolvenbach
et al.
Abstract:Scientific exploration of planetary bodies is an activity well-suited for robots. Unfortunately, the regions that are richer in potential discoveries, such as impact craters, caves, and volcanic terraces, are hard to access with wheeled robots. Recent advances in legged-based approaches have shown the potential of the technology to overcome difficult terrains such as slopes and slippery surfaces. In this work, we focus on locomotion for sandy slopes, comparing standard walking policies with a novel crawling-ba… Show more
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