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dc.contributor.author
Kolvenbach, Hendrik
dc.contributor.author
Breitenstein, Manuel
dc.contributor.author
Gehring, Christian
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2017-09-19T12:21:28Z
dc.date.available
2017-09-08T08:05:42Z
dc.date.available
2017-09-08T08:41:35Z
dc.date.available
2017-09-08T11:46:10Z
dc.date.available
2017-09-08T11:54:08Z
dc.date.available
2017-09-19T07:30:06Z
dc.date.available
2017-09-19T12:21:28Z
dc.date.issued
2017-09
dc.identifier.uri
http://hdl.handle.net/20.500.11850/183684
dc.identifier.doi
10.3929/ethz-b-000183684
dc.description.abstract
Until now, planetary exploration has largely been done by wheeled ground vehicles, which show limited mobility when it comes to unstructured terrain and sloped areas. Besides challenging surface conditions, the environment of low-gravity celestial bodies involve a unique set of unknowns, which an exploration robot has to handle. In order to overcome limitations of existing vehicles, research groups around the globe have started to exploit the possibility of applying legged systems for space exploration. However, these systems have not yet been able to take the full potential of the technology, considering the rapid development that can be observed in terrestrial legged locomotion over the last decade. The current generation of legged robots uses advanced actuation and new control algorithms allowing them to dynamically traverse and interact with complex environments. They feature locomotion skills that potentially revolutionises the way robots move in low-gravity environments. This paper analyses the use of legged robots for space exploration. We compare the underlying technologies of legged robots to existing space hardware to identify technology gaps and propose locomotion gaits for celestial bodies.
en_US
dc.language.iso
en
en_US
dc.publisher
IAF
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged Robots
en_US
dc.subject
Space exploration
en_US
dc.subject
Technology assessment
en_US
dc.title
Scalability Analysis of Legged Robots for Space Exploration
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.pages.start
IAC–17–17.D3.3.5
en_US
ethz.size
15 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.event
68th International Astronautical Congress (IAC)
en_US
ethz.event.location
Adelaide, Australia
en_US
ethz.event.date
September 25-29, 2017
en_US
ethz.publication.place
Paris
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Departement Maschinenbau und Verfahrenstechnik / Department of Mechanical and Process Engineering::02620 - Institut für Robotik und Intelligente Systeme (IRIS) / Institute of Robotics and Intelligent Systems (IRIS)::09570 - Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Departement Maschinenbau und Verfahrenstechnik / Department of Mechanical and Process Engineering::02620 - Institut für Robotik und Intelligente Systeme (IRIS) / Institute of Robotics and Intelligent Systems (IRIS)::09570 - Hutter, Marco
en_US
ethz.tag
RSL; IAC; ESA
en_US
ethz.date.deposited
2017-09-08T08:05:43Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.exportRequired
true
ethz.COinS
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