The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This video shows the investigation of a novel minimalistic, dynamic climbing robot which can climb up tubes of different shapes using a simple dc motor. The motor moves an eccentric mass in a constant velocity. The location of the eccentric mass relative to the contact point determines the stability and the direction of the climbing motion. We present the analysis of this mechanism, simulation and experimental results.

Keywords

Miniature Climbing Robot, Tube Climbing

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

Text Reference

Amir Degani, Siyuan Feng, Howie Choset, and Matthew T. Mason, "Minimalistic, Dynamic, Tube Climbing Robot - Video Submission," IEEE International Conference on Robotics and Automation, May, 2010.

BibTeX Reference

@inproceedings{Degani_2010_6788,
   author = "Amir Degani and Siyuan Feng and Howie Choset and Matthew T. Mason",
   title = "Minimalistic, Dynamic, Tube Climbing Robot - Video Submission",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2010",
}

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