Ascento: A Two-Wheeled Jumping Robot

被引：0

作者：

Klemm, Victor ^{[1
]}

Morra, Alessandro ^{[1
]}

Salzmann, Ciro ^{[1
]}

Tschopp, Florian ^{[1
]}

Bodie, Karen ^{[1
]}

Gulich, Lionel ^{[1
]}

Kung, Nicola ^{[1
]}

Mannhart, Dominik ^{[1
]}

Pfister, Corentin ^{[1
]}

Vierneisel, Marcus ^{[1
]}

Weber, Florian ^{[1
]}

Deuber, Robin ^{[1
]}

Siegwart, Roland ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, Autonomous Syst Lab, Zurich, Switzerland

来源：

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2019年

关键词：

D O I：

10.3929/ethz-b-000384209

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of indoor inspection tasks. This paper introduces Ascento, a compact wheeled bipedal robot that is able to move quickly on flat terrain, and to overcome obstacles by jumping. The mechanical design and overall architecture of the system is presented, as well as the development of various controllers for different scenarios. A series of experiments(1) with the final prototype system validate these behaviors in realistic scenarios.

引用

页码：7515 / 7521

页数：7

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