Sebastian Koehring

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Following mechatronic design methodology this paper introduces a phase-shifting double-wheg-module which forms an alternative approach for wheg-driven robots. During construction focus was placed on a smooth locomotion of the wheg-mechanism over flat terrain (low alternation of the CoM in vertical y-direction) as well as the ability to overcome obstacles.(More)
Climbing is a current challenge in robotics. Observation of vertebrate climbing proves, that in arboreal environment like on flat ground locomotion is carried out as well by the trunk as by the limbs. Thus to elucidate one extreme a trunk-driven concept was chosen as base for our design process. Often climbing robots are highly specialized machines. They(More)
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