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dc.contributor.author
Kolvenbach, Hendrik
dc.contributor.author
Hampp, Elias
dc.contributor.author
Barton, Patrick
dc.contributor.author
Zenkl, Radek
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2019-09-27T11:25:21Z
dc.date.available
2019-07-31T17:19:11Z
dc.date.available
2019-08-02T06:22:27Z
dc.date.available
2019-08-30T03:58:33Z
dc.date.available
2019-08-30T07:06:23Z
dc.date.available
2019-08-30T08:23:11Z
dc.date.available
2019-09-03T10:31:24Z
dc.date.available
2019-09-19T05:36:12Z
dc.date.available
2019-09-27T10:54:29Z
dc.date.available
2019-09-27T11:25:21Z
dc.date.issued
2019-11
dc.identifier.uri
http://hdl.handle.net/20.500.11850/356124
dc.identifier.doi
10.3929/ethz-b-000356124
dc.description.abstract
Jumping locomotion has the potential to enable legged robots to overcome obstacles and travel efficiently on low-gravity celestial bodies. We present how the 22kg quadruped robot SpaceBok exploits lunar gravity conditions to perform energy-efficient jumps. The robot achieves repetitive, vertical jumps of more than 0.9m and powerful single leaps of up to 1.3m. We present the implementation of a reaction wheel, which allows for control of the robots pitch orientation during the flight phase. We also demonstrate the implementation of a parallel elasticity in the legs providing the capability of temporarily storing and reusing energy during jumping. The jumping and attitude controller are subsequently presented. Finally, we analyze the energetics of the system and show that jumping with the integrated elasticity significantly reduces energy consumption compared to non-elastic jumps.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged robotics
en_US
dc.subject
Space Exploration
en_US
dc.subject
Moon exploration
en_US
dc.subject
Space robotics
en_US
dc.subject
Quadruped robot
en_US
dc.subject
Robotics
en_US
dc.title
Towards Jumping Locomotion for Quadruped Robots on the Moon
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
8 p.
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
IEEE/RSJnInternational Conference on Intelligent Robots and Systems (IROS 2019)
en_US
ethz.event.location
Macau, China
en_US
ethz.event.date
November 4-8, 2019
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.tag
RSL
en_US
ethz.tag
ESA
en_US
ethz.tag
NPI
en_US
ethz.tag
Robotic Systems Lab
en_US
ethz.date.deposited
2019-07-31T17:19:20Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2019-08-30T07:06:42Z
ethz.rosetta.lastUpdated
2019-09-27T11:25:48Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Towards%20Jumping%20Locomotion%20for%20Quadruped%20Robots%20on%20the%20Moon&rft.date=2019-11&rft.au=Kolvenbach,%20Hendrik&Hampp,%20Elias&Barton,%20Patrick&Zenkl,%20Radek&Hutter,%20Marco&rft.genre=proceeding&rft.btitle=Towards%20Jumping%20Locomotion%20for%20Quadruped%20Robots%20on%20the%20Moon
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