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CLIMBINGROBOTSINNATURALTERRAINTIMOTHYBRETL,TERESAMILLER,ANDSTEPHENROCKJEANCLAUDELATOMBEAEROSPACEROBOTICSLABROBOTICSLABORATORYDEPARTMENTOFAERONAUTICSANDASTRONAUTICSCOMPUTERSCIENCEDEPARTMENTSTANFORDUNIVERSITY,STANFORD,CA94305STANFORDUNIVERSITY,STANFORD,CA94305{TBRETL,TGMILLER,ROCK}SUNVALLEYSTANFORDEDULATOMBECSSTANFORDEDUKEYWORDSMOTIONPLANNING,CLIMBING,ROBOTICS,LEGGEDROBOTS,HIGHRISKACCESS,NATURALTERRAINABSTRACTTHISPAPERPRESENTSAGENERALFRAMEWORKFORPLANNINGTHEQUASISTATICMOTIONOFCLIMBINGROBOTSTHEFRAMEWORKISINSTANTIATEDTOCOMPUTECLIMBINGMOTIONSOFATHREELIMBEDROBOTINVERTICALNATURALTERRAINANEXAMPLERESULTINGPATHTHROUGHALARGESIMULATEDENVIRONMENTISPRESENTEDTHEPLANNINGPROBLEMISONEOFFIVEFUNDAMENTALCHALLENGESTOTHEDEVELOPMENTOFREALROBOTICSYSTEMSABLETOCLIMBREALNATURALTERRAINEACHOFTHEFOUROTHERAREASHARDWAREDESIGN,CONTROL,SENSING,ANDGRASPINGISALSODISCUSSED1INTRODUCTIONTHEWORKDESCRIBEDINTHISPAPERISPARTOFANEFFORTTODEVELOPCRITICALTECHNOLOGIESTHATWILLENABLETHEDESIGNANDIMPLEMENTATIONOFANAUTONOMOUSROBOTABLETOCLIM
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