TY - GEN
T1 - A dynamic single actuator vertical climbing robot
AU - Degani, Amir
AU - Shapiro, Amir
AU - Choset, Howie
AU - Mason, Matthew T.
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/51349127287
U2 - 10.1109/IROS.2007.4399200
DO - 10.1109/IROS.2007.4399200
M3 - Conference contribution
AN - SCOPUS:51349127287
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2901
EP - 2906
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -