Minimalistic, Dynamic, Tube Climbing Robot - Video Submission

Amir Degani, Siyuan Feng, Howie Choset, and Matthew T. Mason
IEEE International Conference on Robotics and Automation, May, 2010.


Download
  • Adobe portable document format (pdf) (973KB)
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
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",
}