The RiSE climbing robot: body and leg design

Saunders, Aaron; Goldman, Daniel I.; Full, Robert J.; Buehler, M.

doi:10.1117/12.666150

Cited by 64 publications

(47 citation statements)

References 23 publications

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“…In the early design stages, planar dynamic simulations were created in Working Model 2D 1 to evaluate the effects of different gaits and numbers of legs (Saunders et al, 2006). The results suggested that the approach taken by insects was particularly suitable for robotic implementation.…”

Section: Inspiration From Animal Climbersmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

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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: Inspiration From Animal Climbersmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

Self Cite

393

250

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“…Various robots have been developed that climb flat vertical surfaces using suction [16], [17], [21], magnets [6], [23], and arrays of small spines [1], [20] to attach their feet to the surface. More recently, robots have been developed that utilize adhesive materials for climbing smooth surfaces such as glass [7], [15], [18].…”

Section: Introductionmentioning

confidence: 99%

Gecko-inspired climbing behaviors on vertical and overhanging surfaces

Santos

Heyneman

Kim

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-The adhesive and frictional properties of dry adhesive materials can be described by a three-dimensional limit surface in the space of normal and tangential contact forces at the feet. We present the empirically derived limit surface for directional adhesive pads and illustrate its application to controlling the forces at the feet of a robot climbing on arbitrary slopes, including overhanging surfaces. For the directional adhesive patches that we have developed, the limit surface is convex, which permits efficient computation of the desired internal and external forces among the feet to maximize a safety margin with respect to disturbance forces on the robot. The limit surface also intersects the origin in force space, which enables efficient climbing without wasting energy in attaching and detaching the feet. These insights are applied to an experimental climbing platform demonstrating the proper use of directional adhesion and mimicking the climbing behavior seen in geckos.

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“…While many robots have relied upon surface-specific attachment mechanismssuch as magnets ( [1], [2]), suction ( [3], [4], [5]), or the use of handholds to grip ( [6], [7])-we believe the most useful climbing robots will be capable of locomotion on a variety of surfaces, particularly common building materials. Accordingly, we have built a series of successful robots, capable of quasi-static climbing 1 on building surfaces such as brick and stucco, as well as climbing the trunks of trees [9], [10], [8]. The current prototype, RiSE Version 3, shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Rapid pole climbing with a quadrupedal robot

Haynes

Khripin

Lynch

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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133

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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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The RiSE climbing robot: body and leg design

Cited by 64 publications

References 23 publications

Biologically inspired climbing with a hexapedal robot

Biologically inspired climbing with a hexapedal robot

Gecko-inspired climbing behaviors on vertical and overhanging surfaces

Rapid pole climbing with a quadrupedal robot

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