{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T02:00:09Z","timestamp":1771034409968,"version":"3.50.1"},"reference-count":13,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2009,6,19]],"date-time":"2009-06-19T00:00:00Z","timestamp":1245369600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,6,19]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present and evaluate methods of control and gait generation for the DLR Crawler \u2013 a six\u2010legged walking robot prototype based on the fingers of the DLR Hand II.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Following the institutes philosophy, the DLR Crawler is a highly integrated mechatronic device. As in all DLR robots, joint torque sensing plays an important role to allow actively compliant interaction with the environment. To control the Crawler a joint compliance controller is implemented and two different methods of gait generation are in use. The first method, intended for moderately uneven terrain, employs scalable patterns of fixed coordination combined with a leg extension reflex. For the second method, used in rougher terrain, a set of rules found by biologists in stick insect studies is applied. Based on these rules gaits emerge according to a velocity command. These gaits are combined with several reflexes to a reactive walking algorithm.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The compliance controller together with the reactive gaits allows the robot to autonomously master uneven terrain and obstacles with height differences within the nominal walking height. Further, the controller reduces internal forces compared to pure joint position control. The sensitive joint torque sensors allow fast collision detection and reactions thereafter.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper introduces a six\u2010legged walking robot test bed with comprehensive force\u2010torque sensing capability. Joint compliance controllers are implemented and successfully combined with reactive gait algorithms. For the second gait algorithm inspired by Cruse's rules, which were identified for forward walking stick insects, an implementation has been found for the DLR Crawler that gives the robot full omnidirectional mobility.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910957101","type":"journal-article","created":{"date-parts":[[2009,6,13]],"date-time":"2009-06-13T07:08:41Z","timestamp":1244876921000},"page":"344-351","source":"Crossref","is-referenced-by-count":36,"title":["The DLR Crawler: evaluation of gaits and control of an actively compliant six\u2010legged walking robot"],"prefix":"10.1108","volume":"36","author":[{"given":"M.","family":"G\u00f6rner","sequence":"first","affiliation":[]},{"given":"T.","family":"Wimb\u00f6ck","sequence":"additional","affiliation":[]},{"given":"G.","family":"Hirzinger","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021320260845300_b1","unstructured":"Butterfass, J., Grebenstein, M., Liu, H. and Hirzinger, G. (2001), \u201cDLR\u2010Hand II: next generation of a dextrous robot hand\u201d, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, South Korea, pp. 109\u201014."},{"key":"key2022021320260845300_b2","doi-asserted-by":"crossref","unstructured":"Cruse, H. (1990), \u201cWhat mechanisms coordinate leg movement in walking arthropods?\u201d, Trends in Neurosciences, Vol. 13, pp. 15\u201021.","DOI":"10.1016\/0166-2236(90)90057-H"},{"key":"key2022021320260845300_b3","doi-asserted-by":"crossref","unstructured":"D\u00fcrr, V., Schmitz, J. and Cruse, H. (2004), \u201cBehaviour\u2010based modelling of hexapod locomotion: linking biology and technical application\u201d, Arthropod Structure and Development, Vol. 33 No. 3, pp. 237\u201050.","DOI":"10.1016\/j.asd.2004.05.004"},{"key":"key2022021320260845300_b4","doi-asserted-by":"crossref","unstructured":"Espenschied, K.S., Quinn, R.D., Chiel, H.J. and Beer, R.D. 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(2001), \u201cLocomotion of LAURON III in rough terrain\u201d, Proceedings 2001 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Vol. 2, pp. 959\u201064."},{"key":"key2022021320260845300_b7","doi-asserted-by":"crossref","unstructured":"G\u00f6rner, M., Wimb\u00f6ck, T., Baumann, A., Fuchs, M., Bahls, T., Grebenstein, M., Borst, Ch., Butterfass, J. and Hirzinger, G. (2008), \u201cThe DLR\u2010Crawler: a testbed for actively compliant hexapod walking based on the fingers of DLR\u2010Hand II\u201d, Proceedings of the 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France, pp. 1525\u201031.","DOI":"10.1109\/IROS.2008.4650655"},{"key":"key2022021320260845300_b8","doi-asserted-by":"crossref","unstructured":"Lewinger, W.A., Branicky, M.S. and Quinn, R.D. (2005), \u201cInsect\u2010inspired, actively compliant hexapod capable of object manipulation\u201d, Proceedings of the 8th International Conference on Climbing and Walking Robots (CLAWAR), London, UK, pp. 65\u201072.","DOI":"10.1007\/3-540-26415-9_7"},{"key":"key2022021320260845300_b9","unstructured":"Pfeiffer, F., Weidemann, H.J. and Eltze, J. (1994), \u201cThe TUM walking machine\u201d, Intelligent Automation and Soft Computing, Vol. 2, TSI Press, Albuquerque, NM, pp. 167\u201074."},{"key":"key2022021320260845300_b10","doi-asserted-by":"crossref","unstructured":"Schilling, M., Cruse, H. and Arena, P. (2007), \u201cHexapod walking: an expansion to Walknet dealing with leg amputations and force oscillations\u201d, Biological Cybernetics, Vol. 96 No. 3, pp. 323\u201040.","DOI":"10.1007\/s00422-006-0117-1"},{"key":"key2022021320260845300_b11","unstructured":"Spenneberg, D. and Kirchner, F. (2007), \u201cThe bio\u2010inspired Scorpion robot: design, control & lessons learned\u201d, in Zhang, H. (Ed.), Climbing & Walking Robots, Towards New Applications, I\u2010Tech Education and Publishing, Vienna, pp. 197\u2010218."},{"key":"key2022021320260845300_b12","doi-asserted-by":"crossref","unstructured":"Zill, S., Schmitz, J. and B\u00fcschges, A. 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