2021–2025
SCALER
Research focus
- Published in IEEE Transactions on Robotics (T-RO), 2025
- 7 IEEE Publications
- Quadrupedal free-climbing
- Loco-grasping
- Parallel mechanisms
Project story
Images and demonstrations
20 media items
01 / Robotics architecture
The parallel torso, articulated limbs, and GOAT grippers that make the platform possible.
01
Parallel linkage limb design
Motion study
02 Torso mechanism
Documentation 03
Torso motion
Motion study
04 GOAT gripper mechanism
Documentation02 / Locomotion
Ground and contact-rich movement across changing terrain.
01
Ground trot
Motion study 02
Trotting with payload
Motion study 03
Dynamic climbing
Motion study 04
Multi-modal grasping
Motion study03 / Vertical terrain
Whole-body climbing across walls, overhangs, and ceilings.
01
Vertical climbing with payload
Motion study 02
Overhang climbing
Motion study 03
Upside-down ceiling walking
Motion study 04
Upside-down walking on a slippery surface
Motion study 05
Sidepull climbing
Motion study 06
Ground locomotion with payload
Motion study04 / In the field
Public demonstrations and a complete project overview.
01 SCALER award
Documentation 02
SCALER video
FilmPublications & related research
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains (TRO) →SCALER paper (IROS 2022) →Contact-rich planner (IROS 2022) →GOAT gripper (IROS 2021) →Adaptive force control (Humanoid 2023) →OptiState state estimation (ICRA 2024) →Real-to-Sim residual prediction (UR 2023) →SCALER video →