2021
Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot
Panagiotis Vartholomeos, Panos Marantos, George C. Karras, Elisabeth Menendez, Marcos Rodriguez, Santiago Martínez de la Casa Díaz +1
RA-L 2021
This letter presents the dynamic modeling, the gait sequence design, and the control architecture of the BADGER autonomous underground robot. BADGER is a modular and articulated robotic mechanism which employs inchworm biomimetic motion to drill and propel within the soil. It is used to drill and ma