Workspace analysis of a climbing quadruped robot
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13799Keywords:
Mobile robots, Workspace analysis, Firefighting robots, Tree-climbing robots, WildfireAbstract
In recent years, wildfires have become increasingly severe, posing a significant threat to the environment. This study analyzes a quadruped robot designed to navigate forest terrains and climb trees to aid in firefighting. The robot consists of two segments joined by a parallel-actuated cylindrical joint, and this paper characterizes its workspace when the rear legs are embracing the tree. The workspace is generated by propagating each point to its neighbors using the Newton-Raphson method. For each configuration, the pose of the front legs is evaluated through random sampling of the 7 DOFs (from the C-joint and the leg) by solving the forward kinematics. This analysis confirms that the robot effectively adapts to trunk irregularities, ensuring high mobility in complex forest environments.
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Copyright (c) 2026 Paula Mollá-Santamaría, Adrián Peidró, Jorge F. Aznar-Ortega, Freddy A. Prieto-Gonzaga, Óscar Reinoso
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
