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dc.contributor.author
Kolvenbach, Hendrik
dc.contributor.author
Bellicoso, Dario
dc.contributor.author
Jenelten, Fabian
dc.contributor.author
Wellhausen, Lorenz
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2018-05-09T07:17:32Z
dc.date.available
2018-05-02T16:03:15Z
dc.date.available
2018-05-03T05:36:14Z
dc.date.available
2018-05-09T07:17:32Z
dc.date.issued
2018-06-04
dc.identifier.uri
http://hdl.handle.net/20.500.11850/261939
dc.identifier.doi
10.3929/ethz-b-000261939
dc.description.abstract
We present the outcome of a study on the energetic expenditure of quadrupedal gaits in the gravitational scenarios of Earth, Mars and the Moon. The study was performed in simulation on a fully controlled 30kg-class robot. We compared the mechanical power required for locomotion by using a static walking gait, dynamic gaits without full flight phases (trot, dynamic lateral walk) and dynamic gaits with full flight phases (running trot, pronk) at velocities up to 1 m/s. Additionally, we conducted a field test which compared the energetic expenditure and ground contact forces of a trot and running trot on a sandy terrain against the laboratory environment and the simulation results.Generally, gaits with full flight phases become increasingly efficient in reduced gravity scenarios. The study revealed that a running trot outperforms the gaits without full flight phases at forward velocities of 0.55 m/s on Mars and 0.4 m/s on the Moon. Executing a trot on the real robot showed that the energetic expenditure is 1.2-1.4 times higher on a coarse, heterogeneous sand compared to the lab environment. The field test revealed that the point feet design is not optimal for gaits with full flight phases on compressible soil due to high contact forces and increased ground penetration, which leads to stuck situations.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ESA Conference Bureau
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
RSL
en_US
dc.subject
Quadrupedal Robots
en_US
dc.subject
Low-Gravity Locomotion
en_US
dc.subject
Planetary Exploration
en_US
dc.title
Efficient Gait Selection for Quadrupedal Robots on the Moon and Mars
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
9 p.
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)
en_US
ethz.event.location
Madrid, Spain
en_US
ethz.event.date
June 4-6, 2018
en_US
ethz.notes
RSL, ESA, Quadrupedal Robots, Space Exploration, Planetary Exploration, Low Gravity Locomotion, Quadrupedal Gaits
en_US
ethz.publication.place
Noordwijk
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.date.deposited
2018-05-02T16:03:17Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-05-03T05:36:21Z
ethz.rosetta.lastUpdated
2019-01-02T13:00:29Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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