Abstract:The paper discusses the complex problem of assessing online the static equilibrium of statically-indeterminate climbing and walking robots (CLAWARs) with quasi-static locomotion. The method proposed is general and works for whatever number of legs and ropes operated by actuated winches connecting the robot to the environment. The configuration of the robot is assigned. First, the compliance of the robot body, of the legs and the compliances of the ground and the ropes are modeled as localized elasticities. The… Show more
“…For safety purposes, it has been provided with four or more legs. Specially designed clamps were used to restrict the motion for developing a locking system while the linear movement is on negative slope and the robot is expected towards slide backward [13].…”
“…For safety purposes, it has been provided with four or more legs. Specially designed clamps were used to restrict the motion for developing a locking system while the linear movement is on negative slope and the robot is expected towards slide backward [13].…”
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