Publication

Octopus - An Autonomous Wheeled Climbing Robot

Roland Siegwart, Yves Henri Philippe Piguet, Michel Lauria
2002
Conference Papers

Abstract

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The outputs of the controller are the torques for the wheels, the torques for the forearms, and the position set point for the body.

Official source

https://infoscience.epfl.ch/entities/publication/d9afec3a-5ff3-4b78-abe7-e71c82fddb0a

About this result

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Graph Chat

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Roland Siegwart, Yves Henri Philippe Piguet, Michel Lauria
2002
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/d9afec3a-5ff3-4b78-abe7-e71c82fddb0a

About this result

Related concepts (32)

Autonomous robot

An autonomous robot is a robot that acts without recourse to human control. The first autonomous robots environment were known as Elmer and Elsie, which were constructed in the late 1940s by W. Grey Walter. They were the first robots in history that were programmed to "think" the way biological brains do and meant to have free will. Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of phototaxis which is the movement that occurs in response to light stimulus.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Mobile robot

A mobile robot is an automatic machine that is capable of locomotion. Mobile robotics is usually considered to be a subfield of robotics and information engineering. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. Mobile robots can be "autonomous" (AMR - autonomous mobile robot) which means they are capable of navigating an uncontrolled environment without the need for physical or electro-mechanical guidance devices.

Related publications (32)

Octopus - An Autonomous Wheeled Climbing Robot

Chat with Graph Search

Compliant robot with active and passive reconfiguration

Improving Efficiency and Maneuverability through Design of a Robotic Fish with Independent Control of Tail and Caudal Fin Deflection

Flexible Electromagnetic Actuators with Kresling-Origami Housing for Modular Soft Robots