An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915563470585856 |
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| author | Stark, Franek Kumar, Rohit Vyas, Shubham Isermann, Hannah Haack, Jonas Popescu, Mihaela Middelberg, Jakob Mronga, Dennis Kirchner, Frank |
| author_facet | Stark, Franek Kumar, Rohit Vyas, Shubham Isermann, Hannah Haack, Jonas Popescu, Mihaela Middelberg, Jakob Mronga, Dennis Kirchner, Frank |
| contents | Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially quadrupeds, can overcome these limitations by handling uneven, obstacle-rich, and deformable terrains. However, deploying such robots in unknown conditions is challenging due to the need for environment-specific control, which is infeasible when terrain and robot parameters are uncertain. This work presents a modular control framework that combines model-based dynamic control with online model adaptation and adaptive footstep planning to address uncertainties in both robot and terrain properties. The framework includes state estimation for quadrupeds with and without contact sensing, supports runtime reconfiguration, and is integrated into ROS 2 with open-source availability. Its performance was validated on two quadruped platforms, multiple hardware architectures, and in a volcano field test, where the robot walked over 700 m. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_17249 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An adaptive hierarchical control framework for quadrupedal robots in planetary exploration Stark, Franek Kumar, Rohit Vyas, Shubham Isermann, Hannah Haack, Jonas Popescu, Mihaela Middelberg, Jakob Mronga, Dennis Kirchner, Frank Robotics Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially quadrupeds, can overcome these limitations by handling uneven, obstacle-rich, and deformable terrains. However, deploying such robots in unknown conditions is challenging due to the need for environment-specific control, which is infeasible when terrain and robot parameters are uncertain. This work presents a modular control framework that combines model-based dynamic control with online model adaptation and adaptive footstep planning to address uncertainties in both robot and terrain properties. The framework includes state estimation for quadrupeds with and without contact sensing, supports runtime reconfiguration, and is integrated into ROS 2 with open-source availability. Its performance was validated on two quadruped platforms, multiple hardware architectures, and in a volcano field test, where the robot walked over 700 m. |
| title | An adaptive hierarchical control framework for quadrupedal robots in planetary exploration |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.17249 |