Biologically inspired climbing with a hexapedal robot

Spenko, Matthew; Haynes, Galen Clark; Saunders, Jeff; Cutkosky, Mark R.; Rizzi, Alfred A.; Full, Robert J.; Koditschek, D. E.

doi:10.1002/rob.20238

Cited by 371 publications

(231 citation statements)

References 33 publications

(36 reference statements)

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“…RiSE [7] robot is one of the example for this category. They use closed loop gait planning mechanism.…”

Section: A Closed Loop Gait Planning Designsmentioning

confidence: 99%

IONS: A Quadruped Robot for Multi-terrain Applications

Agrawal¹,

Dagale²,

Mohan³

et al. 2015

IJMMM

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Abstract-In this paper we present the design and development of the IONS (Indoor Outdoor Navigation and Surveillance), a versatile, low-cost, power autonomous, statically stable quadruped robot. The robot has unique compliant wheeled-leg limb design that enables it to climb up and descend stairs of various riser heights. It is designed for statically stable walking, turning, climbing and descending gaits using minimal terrain sensing and simple clock driven open-loop control mechanism. It is equally effective in indoor as well as outdoor settings. Its salient features include auto-alignment of the body while climbing stairs, distinction between stairs and obstacles, collision avoidance etc. The robot is controlled using a web based user interface under ubiquitous Wi-Fi network. The operator use live video feed streamed from on-board camera mounted on the robot platform for gait regulation. On-board system keeps track of signal strength, detects communication failure and sends health status report of the robot to the operator console at regular intervals.

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“…RiSE [7] robot is one of the example for this category. They use closed loop gait planning mechanism.…”

Section: A Closed Loop Gait Planning Designsmentioning

confidence: 99%

IONS: A Quadruped Robot for Multi-terrain Applications

Agrawal¹,

Dagale²,

Mohan³

et al. 2015

IJMMM

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“…In the past decades, a number of robots have been developed for climbing on trusses or truss members, including, SM 2 [1], ROMA [2], the brachiating robot [3], TREPA [4,5], WOODY [6,7], Shady3D [8], RiSE [9,10], UT-PCR [11], 3DCLIMBER [12], Treebot [13], the tendril-based bio-inspired robot [14], Climbot [15,16], and the Snake Robot [17]. Configuring different locomotion and attaching mechanisms, these robots differ significantly in mobility and flexibility.…”

Section: Introductionmentioning

confidence: 99%

Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

Zhu

et al. 2018

Applied Sciences

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Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we study member-to-member transition and its utility in global path searching for biped climbing robots. To compute operational regions for transition, hierarchical inspection of safety, reachability, and accessibility of grips is taken into account. A novel global path rapid determination approach is subsequently proposed based on the transition analysis. This scheme is efficient for finding feasible routes with respect to the overall structural environment, which also benefits the subsequent grip and motion planning. Simulations are conducted with Climbot, our self-developed biped climbing robot, to verify the efficiency of the presented method. Results show that our proposed method is able to accurately determine the operational region for transition within tens of milliseconds and can obtain global paths within seconds in general.

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“…Two interconnected problems arise in the design and control of legged climbing robots: attachment and force production [1]. Attaching to the wall requires a mechanism which allows the robot both to cling to a vertical surface (while producing forces tangent to that surface) and then to release its grip rapidly and smoothly in order to recirculate for the next touchdown.…”

Section: Introductionmentioning

confidence: 99%

“…Here again, growing empirical evidence indicates that the generation of robust and efficient force patterns requires both passive mechanical and active algorithmic design. Just as legged walking and running machines require a combination of tuned passive mechanisms and algorithmically controlled actuators to locomote quickly and efficiently [11], [12], the first legged machines to achieve mobility on unstructured outdoor walls and trees rely on a combination of passive mechanical and actively powered sources of force patterns [1]. This paper addresses the second aspect of the second problem: the development of algorithms for actively powering force patterns in dynamical climbing.…”

Section: Introductionmentioning

confidence: 99%

A self-exciting controller for high-speed vertical running

Lynch

Clark

Koditschek

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this "self-exciting" controller does indeed generate an "almost" globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clockgenerated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second. Abstract-Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this "self-exciting" controller does indeed generate an "almost" globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second.

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Biologically inspired climbing with a hexapedal robot

Cited by 371 publications

References 33 publications

IONS: A Quadruped Robot for Multi-terrain Applications

IONS: A Quadruped Robot for Multi-terrain Applications

Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

A self-exciting controller for high-speed vertical running

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