Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Modelisation and Simulation of Climbing Robots

This project is a part of a bigger project aiming to develop bio-inspired climbing robots for space exploration. My goal is to provide a tool to simulate the physics of those robots, design them and test their controllers. Therefore my project is divided into three main steps. The first step consists in developing a physical plugin for Webots in order to be able to simulate the bio-inspired adh...

Simulation of Climbing Robots using Underpressure for Adhesion

Controlling Dynamic Gaits for Quadrupedal Robots

Bridging the gap between the skill sets of legged robotic systems and that of real animals is one of the major challenges in the field of robotics. Our long-term goal is to develop and control quadrupedal robots that are able to operate semiautonomously, i.e. they are only guided by users through highlevel velocity commands, such as move forward at 1 m/s, or turn with 0.5 rad/s. To achieve this...

Developing Climbing Robots for Education

This paper presents a practical course that introduces students to the development and construction of a mobile robotic system. Using a wheeled climbing robot for metallic walls as an example, the course aims at teaching practical skills in engineering as well as developing soft skills like project management and teamwork. To increase motivation and allow the construction of a working system in...

Climbing with Parallel Robots

Inherently, parallel robots present many advantages to climb in comparison with robots that use serial legs. The availability of a great number of redundant degrees of freedom on the climbing robots with legs does not necessarily increase the ability of those types of machine to progress in a complex workspace. The serial legs mechanisms have a sequential configuration that imposes high torques...