2006
DOI: 10.1117/12.666017
|View full text |Cite
|
Sign up to set email alerts
|

Abstract: We discuss the gait generation and control architecture of a bioinspired climbing robot that presently climbs a variety of vertical surfaces, including carpet, cork and a growing range of stucco-like surfaces in the quasi-static regime. The initial version of the robot utilizes a collection of gaits (cyclic feed-forward motion patterns) to locomote over these surfaces, with each gait tuned for a specific surface and set of operating conditions. The need for more flexibility in gait specification (e.g., adjusti… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
3
1
1

Citation Types

0
5
0

Year Published

2006
2006
2009
2009

Publication Types

Select...
2

Relationship

1
1

Authors

Journals

citations
Cited by 2 publications
(5 citation statements)
references
References 19 publications
0
5
0
Order By: Relevance
“…Wood planks proved challenging due to frequent jamming of the dactyl when placed down in the cracks between planks. Recently work has begun developing traction controlled climbing gaits for purely vertical stucco surfaces [26]. And finally the Hard-Smooth surfaces tested on are both acrylic sheets and smooth concrete board.…”
Section: Results: Strength Endurance and Speed Trialsmentioning
confidence: 99%
See 3 more Smart Citations
“…Wood planks proved challenging due to frequent jamming of the dactyl when placed down in the cracks between planks. Recently work has begun developing traction controlled climbing gaits for purely vertical stucco surfaces [26]. And finally the Hard-Smooth surfaces tested on are both acrylic sheets and smooth concrete board.…”
Section: Results: Strength Endurance and Speed Trialsmentioning
confidence: 99%
“…Speed values are presented primarily for the v0.1 platform with preliminary results for the new v1.0 platform where available. All climbing and walking requires careful behavior development [26], with a variety of gaits and transitions crafted to handle climbing and maneuvering on a wide number of scansorial surface types and geometries. Rizzi et al [26] provides an in-depth look at the control methods for the RiSE platform.…”
Section: Results: Strength Endurance and Speed Trialsmentioning
confidence: 99%
See 2 more Smart Citations
“…Substantial progress has been made toward developing attachment mechanisms for a range of substrates. Specialized approaches using magnets or a vacuum [2], [3], [4], have recently given way to more general purpose mechanisms such as microspines [5], [6], dry adhesives [7], [8], dactyls [6], and bracing/friction [9] to provide robust, reliable attachment to an ever growing diversity of vertical surfaces when driven appropriately by a well tuned, algorithmically controlled set of actuators [10]. The second challenge, given a functional attachment mechanism, is to achieve a force pattern which results in desirable climbing behavior.…”
Section: Introductionmentioning
confidence: 99%