Saved in:
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.18678 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866912663063232512 |
|---|---|
| author | Sanchez-Delgado, Alberto Soares, João Carlos Virgolino Tawil, David Omar Al Noce, Alessia Li Villa, Matteo Barasuol, Victor Arena, Paolo Semini, Claudio |
| author_facet | Sanchez-Delgado, Alberto Soares, João Carlos Virgolino Tawil, David Omar Al Noce, Alessia Li Villa, Matteo Barasuol, Victor Arena, Paolo Semini, Claudio |
| contents | Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the rover on loose and inclined surfaces, such as crater walls and cave slopes. This paper introduces a preliminary study that compares the Cost of Transport (CoT) of walking and torso-based sliding locomotion for quadruped robots across different slopes, friction conditions and speed levels. By identifying intersections between walking and sliding CoT curves, we aim to define threshold conditions that may trigger transitions between the two strategies. The methodology combines physics-based simulations in Isaac Sim with particle interaction validation in ANSYS-Rocky. Our results represent an initial step towards adaptive locomotion strategies for planetary legged rovers. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_18678 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes Sanchez-Delgado, Alberto Soares, João Carlos Virgolino Tawil, David Omar Al Noce, Alessia Li Villa, Matteo Barasuol, Victor Arena, Paolo Semini, Claudio Robotics Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the rover on loose and inclined surfaces, such as crater walls and cave slopes. This paper introduces a preliminary study that compares the Cost of Transport (CoT) of walking and torso-based sliding locomotion for quadruped robots across different slopes, friction conditions and speed levels. By identifying intersections between walking and sliding CoT curves, we aim to define threshold conditions that may trigger transitions between the two strategies. The methodology combines physics-based simulations in Isaac Sim with particle interaction validation in ANSYS-Rocky. Our results represent an initial step towards adaptive locomotion strategies for planetary legged rovers. |
| title | Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.18678 |