Development and Control of the Multi-Legged Robot Mantis

Sebastian Bartsch; Marc Manz; Peter Kampmann; Alexander Dettmann; Hendrik Hanff; Malte Langosz; Kai von Szadkowski; Jens Hilljegerdes; Marc Simnofske; Philipp Kloss; Manuel Meder; Frank Kirchner

In: Proceedings of ISR 2016: 47st International Symposium on Robotics. International Symposium on Robotics (ISR-2016), June 21-22, München, Germany, Pages 379-386, ISBN 978-3-8007-4231-8, VDE VERLAG GmbH, Berlin, Offenbach, 6/2016.


This paper presents the multi-legged robot MANTIS which is developed within the project LIMES at the DFKI RIC and the University of Bremen. In particular, we describe the mechanical design, the sensor setup, electronics and computing hardware. Furthermore we give a short introduction to the software framework for simulation-based motion behavior generation and optimization for such kinematically complex robots as well as to the online locomotion control and evaluation approach for context based utilization and adaptation of these behaviors. Finally, applied methodologies and experiments allowing to assess and reduce the difference between observed and simulated behavior of the robot and its subsystems are presented.


ISR_2016_MANTIS_small.pdf (pdf, 353 KB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence