Gait Regulation and Feedback on a Robotic Climbing Hexapod

Haynes, Galen Clark

doi:10.15607/rss.2006.ii.013

Cited by 35 publications

(31 citation statements)

References 17 publications

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“…An open-loop gait repeats the same leg motions, thus the gait function can be represented as a periodic function from the phase of an oscillator, φ ∈ S 1 , to the desired configuration of the robot's joints (Haynes and Rizzi, 2006b;Haynes and Rizzi, 2006a). If the robot's configuration space is denoted as Q, then a gait, g, is a periodic function that can be represented as an embedding of the circle:…”

Section: Gaits and Gait Parametersmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

390

249

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This paper presents an integrated, systems level view of several novel design and control features associated with the biologically-inspired, hexapedal, RiSE robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed stone at speeds up to 4 cm/s, quietly and without the use of suction, magnets, or adhesives. It achieves these capabilities through a combination of bio-inspired and traditional design methods. This paper describes the design process and specifically addresses body morphology, hierarchical compliance in the legs and feet, and sensing and control systems that enable robust and reliable climbing on difficult surfaces. Experimental results illustrate the effects of various behaviors on climbing performance and demonstrate the robot's ability to climb reliably for long distances.

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Section: Gaits and Gait Parametersmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

390

249

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show abstract

“…While such "cheating" with respect to foot attachment mechanics would have been viable, we feared that it would unduly hinder our eventual goal of integration of this physical climbing model into a versatile climbing robot. We chose instead to work with claw-like feet on a carpet substrate, a combination that proved effective as a starting point for RiSE [5], and on which that robot's fastest climbs have been recorded [25]. This initial setting gives us confidence that the attachment developments that have enabled RiSE to move from carpet to brick, stucco, concrete, etc.…”

Section: Robot Design and Experimentsmentioning

confidence: 99%

Design of a Bio-inspired Dynamical Vertical Climbing Robot

Clark¹,

Goldman²,

Lin³

et al. 2007

Robotics: Science and Systems III

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Abstract-This paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents empirical data from a physical prototype as evidence of the feasibility of adapting the dynamics of the template to robot that runs vertically upward.The recently proposed pendulous climbing model abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. The present paper's first contribution summarizes a numerical study of this model to hypothesize that these animals' apparently wasteful commitments to lateral oscillations may be justified by a significant gain in the dynamical stability and, hence, the robustness of their resulting climbing capability. The paper's second contribution documents the design and offers preliminary empirical data arising from a physical instantiation of this model. Notwithstanding the substantial differences between the proposed bio-inspired template and this physical manifestation, initial data suggest the mechanical climber may be capable of reproducing both the motions and ground reaction forces characteristic of dynamical climbing animals. Even without proper tuning, the robot's steady state trajectories manifest a substantial exchange of kinetic and potential energy, resulting in vertical speeds of 0.30 m/s (0.75 bl/s) and claiming its place as the first bio-inspired dynamical legged climbing platform.

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“…Our prototype of RiSE V3 has few sensors other than joint proprioception (magnetic encoders), thus precluding the use of sensor-based feedback such as the force-sensitive controllers we have utilized for previous versions of RiSE [17], [8]. The pole climbing behavior follows a fixed joint trajectory using a PD controller.…”

Section: A Experiments Proceduresmentioning

confidence: 99%

Rapid pole climbing with a quadrupedal robot

Haynes

Khripin

Lynch

et al. 2009

2009 IEEE International Conference on Robotics and Automation

132

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This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine-mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage-includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot's design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved-and, we believe, heretofore impossible-with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot's general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveillance operations as well as ad hoc networking. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2009 (ICRA 2009)This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Abstract-This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine-mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage-includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot's design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved-and, we believe, heretofore impossible-with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot's general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveilla...

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Gait Regulation and Feedback on a Robotic Climbing Hexapod

Cited by 35 publications

References 17 publications

Biologically inspired climbing with a hexapedal robot

Biologically inspired climbing with a hexapedal robot

Design of a Bio-inspired Dynamical Vertical Climbing Robot

Rapid pole climbing with a quadrupedal robot

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