A Dynamic Single Actuator Vertical Climbing Robot

Amir Degani, Amir Shapiro, Howie Choset, and Matthew T. Mason
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, December, 2007, pp. 2901-2906.


Download
  • Adobe portable document format (pdf) (421KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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? ability to climb.

Keywords
Dynamic Climbing, Climbing, Underactuated systems

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab and Biorobotics
Associated Project(s): Dynamic Climbing
Number of pages: 6

Text Reference
Amir Degani, Amir Shapiro, Howie Choset, and Matthew T. Mason, "A Dynamic Single Actuator Vertical Climbing Robot," Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, December, 2007, pp. 2901-2906.

BibTeX Reference
@inproceedings{Degani_2007_5953,
   author = "Amir Degani and Amir Shapiro and Howie Choset and Matthew T. Mason",
   title = "A Dynamic Single Actuator Vertical Climbing Robot",
   booktitle = "Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on",
   pages = "2901-2906",
   month = "December",
   year = "2007",
}