LEVA: A high-mobility logistic vehicle with legged suspension
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arXiv
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| Main Authors: | , , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866912286695751680 |
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| author | Arnold, Marco Hildebrandt, Lukas Janssen, Kaspar Ongan, Efe Bürge, Pascal Gábriel, Ádám Gyula Kennedy, James Lolla, Rishi Oppliger, Quanisha Schaaf, Micha Church, Joseph Fritsche, Michael Klemm, Victor Tuna, Turcan Valsecchi, Giorgio Weibel, Cedric Wüthrich, Michael Hutter, Marco |
| author_facet | Arnold, Marco Hildebrandt, Lukas Janssen, Kaspar Ongan, Efe Bürge, Pascal Gábriel, Ádám Gyula Kennedy, James Lolla, Rishi Oppliger, Quanisha Schaaf, Micha Church, Joseph Fritsche, Michael Klemm, Victor Tuna, Turcan Valsecchi, Giorgio Weibel, Cedric Wüthrich, Michael Hutter, Marco |
| contents | The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_10028 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | LEVA: A high-mobility logistic vehicle with legged suspension Arnold, Marco Hildebrandt, Lukas Janssen, Kaspar Ongan, Efe Bürge, Pascal Gábriel, Ádám Gyula Kennedy, James Lolla, Rishi Oppliger, Quanisha Schaaf, Micha Church, Joseph Fritsche, Michael Klemm, Victor Tuna, Turcan Valsecchi, Giorgio Weibel, Cedric Wüthrich, Michael Hutter, Marco Robotics The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport. |
| title | LEVA: A high-mobility logistic vehicle with legged suspension |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.10028 |