Publication
Introduction of SherpaTT – Adaptive Suspension and Locomotion Coordinate Systems
Florian Cordes
Poster, DFKI GmbH, DFKI Documents (D), Vol. 15-03, 9/2015.
Abstract
The poster presents the hybrid wheeled-leg rover SherpaTT, which is the successor of the rover Sherpa. The
rover in its integration state as of September 2015 is presented and the main specifications of the system
are provided. SherpaTT has in the current integration status a weight of approximately 115 kg and a square
shaped foot print of roughly 1m×1m in its standard pose. Definitions of the three standard poses that
maximize the motion range for adaptive processes are given. Furthermore, the main coordinate systems used
for different tasks in the locomotion control are described.