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Carnegie Mellon Robotics Institute

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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, November, 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 = "November",
   year = "2007",
}

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