Two VelociRoACH Robots Cooperatively Climb a Step

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Media for the ICRA 2016 publication: “Step Climbing Cooperation Primitives for Legged Robots with a Reversible Connection”

This video demonstrates step climbing cooperation primitives that enable a team of two VelociRoACH robots to climb a taller step than they could individually. The addition of a winch module that exerts tensile forces on a tethered magnetic connector allows the robots to form connections, provide tether pulling assistance, and remove connections. Successful trials for (I) single robot transition, (II) form connection, (III) connected climbing, (IV) release connection, and (V) tether-assisted climbing primitives are shown. When these independent primitives are performed sequentially, the robot team can climb a high-traction sandpaper step 6.5 cm in height, which is tall relative to their 10 cm body length.

By: Carlos S. Casarez and Ronald S. Fearing

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