Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots
Victor Barasuol,Sinan Emre,Vivian Suzano Medeiros,Angelo Bratta,Claudio Semini,Victor Barasuol,Sinan Emre,Vivian Suzano Medeiros,Angelo Bratta,Claudio Semini
The capability of a quadruped robot to negotiate obstacles is tightly connected to its leg workspace and joint torque limits. When facing terrain where the height of obstacles is close to the leg length, the locomotion robustness and safety are reduced since more dynamic motions are required to traverse it. In this paper, we introduce a new mechanism called the Carpal-Claw, which enables quadruped...
