A dynamic single actuator vertical climbing robot

Amir Degani, Amir Shapiro, Howie Choset, Matthew T. Mason

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This robot relies on its own internal dynamic motions to gain height, unlike previous mechanisms which are quasi-static. One benefit of dynamics is that it allows climbing with only a single actuated degree of freedom. We show with analysis, simulations and experiments that this dynamic robot is capable of climbing vertically between parallel walls. We introduce simplifications that enable us to obtain closed form approximations of the robot motion. Furthermore, this provides us with some design considerations and insights into the mechanism's ability to climb.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages2901-2906
Number of pages6
DOIs
StatePublished - 1 Dec 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 29 Oct 20072 Nov 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period29/10/072/11/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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