SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka,Yuki Shirai,Xuan Lin,Alexander Schperberg,Hayato Kato,Alexander Swerdlow,Naoya Kumagai,Dennis Hong,Yusuke Tanaka,Yuki Shirai,Xuan Lin,Alexander Schperberg,Hayato Kato,Alexander Swerdlow,Naoya Kumagai,Dennis Hong
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, over-hangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER...
