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ICRA
2008
IEEE

A body joint improves vertical to horizontal transitions of a wall-climbing robot

8 years 9 months ago
A body joint improves vertical to horizontal transitions of a wall-climbing robot
— Several recently-designed robots are able to scale steep surfaces using animal-inspired strategies for foot attachment and leg kinematics. These designs could be valuable for reaching high vantage points or for overcoming large obstacles. However, most of these robots cannot transition between intersecting surfaces. For example, our previous Climbing Mini-Whegs™ robot cannot make a 90° transition from a vertical wall up onto a flat horizontal surface. It is known that cockroaches bend their body to accomplish such transitions. This concept has been simplified to a single-axis body joint which allows ground-walking robots to cross uneven terrain. In this work, we examine the effect of a body joint on wall-climbing vehicles using both a kinematic simulation and two prototype Climbing Mini-Whegs™ robots. The simulation accurately predicts that the better design has the body joint axle closer to the center of the robot than to the front wheellegs for orthogonal exterior transition...
Kathryn A. Daltorio, Timothy C. Witushynsky, Grego
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Kathryn A. Daltorio, Timothy C. Witushynsky, Gregory D. Wile, Luther R. Palmer, Anas A. Malek, Mohd Rasyid Ahmad, Lori Southard, Stanislav N. Gorb, Roy E. Ritzmann, Roger D. Quinn
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