Configuration-Space Flipper Planning on 3D Terrain

Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work, we propose an algorithm to plan the morphologies of a small rescue robot with four flippers to get over 3D ground without any extra sensors, such as pressure sensors. To achieve the goal, we simplify the rescue robot as a skeleton on inflated terrain. Its morphology can be represented by configurations of several parameters. Then we plan the mobile robot's movement on 3D terrain with four individually manipulated flippers. We perform real robot experiments on three different obstacles. The results show that we move the flippers very effectively and are thus able to tackle those terrains very well.