Robotics in Scansorial Environments

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
Kodlab
climbing robots
gecko adhesion
bioinspired design
power autonomous locomotion
scansorial agility
Electrical and Computer Engineering
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Systems Engineering
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Autumn, Kellar
Buehler, Martin
Cutkosky, Mark
Fearing, Ronald
Full, Robert J
Goldman, Daniel
Groff, Richard
Provancher, William
Rizzi, Alfred A.
Saranli, Uluc
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Abstract

We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

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2005-01-01
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Departmental Papers (ESE)
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2023-05-17T19:06:30.000
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@inproceedings{Autumn_Provancher_Rizzi_Saranli_Saunders_Koditschek_Autumn_Buehler_Cutkosky_Fearing_et al._2005, title={Robotics In Scansorial Environments}, volume={5804}, DOI={10.1117/12.606157}, booktitle={Proceedings of SPIE}, author={Autumn, Kellar and Provancher, W. and Rizzi, A. A. and Saranli, U. and Saunders, A. and Koditschek, D. E. and Autumn, Kellar and Buehler, Martin and Cutkosky, Mark and Fearing, Ronald and et al.}, year={2005}, pages={291–302} }
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