SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains
CoRR(2023)
摘要
This paper presents SCALER, a versatile free-climbing multi-limbed robot that
is designed to achieve tightly coupled simultaneous locomotion and dexterous
grasping. Although existing quadruped-limbed robots have shown impressive
dexterous skills such as object manipulation, it is essential to balance
power-intensive locomotion and dexterous grasping capabilities. We design a
torso linkage and a parallel-serial limb to meet such conflicting skills that
pose unique challenges in the hardware designs. SCALER employs underactuated
two-fingered GOAT grippers that can mechanically adapt and offer 7 modes of
grasping, enabling SCALER to traverse extreme terrains with multi-modal
grasping strategies. We study the whole-body approach, where SCALER uses its
body and limbs to generate additional forces for stable grasping with
environments, further enhancing versatility. Furthermore, we improve the GOAT
gripper actuation speed to realize more dynamic climbing in a closed-loop
control fashion. With these proposed technologies, SCALER can traverse
vertical, overhang, upside-down, slippery terrains, and bouldering walls with
non-convex-shaped climbing holds under the Earth's gravity.
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