ALPINE: A climbing robot for operations in mountain environments

Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli

Abstract: Highlights•The conceptual design of the jumping robot platform ALPINE.•A reduced-order model to simplify the solution of the optimal control strategy.•A static analysis to find max operating forces the system can withstand during task execution.•An efficient planning algorithm to generate jumps to reach targets while avoiding obstacles.•A motion control strategy to track the reference trajectories with high landing accuracy.