Robustheitssteigerung von Laufrobotern bezüglich der Unebenheit des Ter-rains

DFX 2017: Proceedings of the 28th Symposium Design for X, 4-5 October 2017, Bamburg, Germany

Year: 2017
Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack
Author: Florian, Winter; Daniel, Schneider; Stefan, Landkammer; Rüdiger, Hornfeck; Peter, Heß; Kristin, Paetzold
Series: DfX
Institution: TH Nürnberg
Section: Robust Design
Page(s): 087-098
ISBN: 978-3-946094-20-3-8

Abstract

While walking robots theoretically have the advantage of superior off-road capabilities in comparison to tracked or wheeled robots, they also demand tread point planning to live up to their potential. Existing systems either use preventive or reactive environment recognition to decide on tread points. An analysis yielded the reactive approach as more promising, but the analyzed reactive systems are prone to dynamic influences. In this article, a combined reactive and preventive approach to tread point planning without this limita-tion is presented. Applying this approach results in an increased robustness for a walking robot against terrain irregularities, since it uses a switch at each foot point that yields a direct feedback whether each foot has traction or not.

Keywords: walking Robot, collision avoidance, robustness, environment recognition