Arne Rönnau

Learn More
Multi-legged walking robots often make use of sophisticated control architectures to play their strengths in rough and unknown environments. The adaptability of these robots is an essential skill to achieve the maneuverability and autonomy needed in their application fields. In this work we present a reactive control approach for the hexapod LAURONV, which(More)
We present our recent work on the soft- and hardware design of the bimanual mobile manipulation platform HoLLiE that is equipped with an actuated upper body. The goal was to develop a robust but extensible robot with a non-intimidating abstract anthropomatic appearance based on a combination of industrial robotic components and intelligent mechatronics.(More)
We present a hierarchical SLAM approach which uses spectral registration of local submaps to close loops and to perform global localization after a restart. Using the Fourier-Mellin Transform (FMT), we robustly register occupancy grid representations of local submaps and present methods which improve matching performance. We further show how good match(More)
Legged locomotion is a fascinating form of motion. Almost all legged robotic systems are biologically-inspired by some kind of role model. The stick insect and cockroach are two of the most popular role models in the field of six-legged walking robots. Although, their legs have at least four degrees of freedom, most robotic systems, which are(More)
Adaptive multi-legged walking robots are predestined to be applied in rough and hazardous terrain. Their walking and climbing skills allow them to operate at places that are unreachable for most wheeled vehicles. In this paper, we present the design and development of the new six-legged walking robot LAURON V with its improved kinematics and robust(More)
A key skill for autonomous exploration and inspection missions is the ability to find safe and traversable paths within previously unknown environments. We present an approach for mapping typical environments encountered by autonomous planetary exploration robots, a pre-interpreted multi-resolution 3-D environment model generated from point cloud data, and(More)
Today satellites are mostly monolithic systems and offer hardly any facilities to facilitate servicing or maintenance. Consequently, no servicer satellites are present as well. In this work, supported by the German Space Agency, we propose a modular concept for satellites based on standardized building blocks. These can be replaced in orbit requiring(More)