Toward a Dynamic Vertical Climbing Robot

Simple item page
dc.contributor.authorClark, Jonathan E
dc.contributor.authorGoldman, Daniel I
dc.contributor.authorFull, Robert J
dc.contributor.authorKoditschek, Daniel E
dc.contributor.authorChen, Tao S
dc.date2023-05-17T03:04:07.000
dc.date.accessioned2023-05-22T19:09:28Z
dc.date.available2023-05-22T19:09:28Z
dc.date.issued2006-09-01
dc.date.submitted2009-08-04T10:27:38-07:00
dc.description.abstractSimple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a recently proposed biologically-based template for dynamic vertical climbing, and evaluates the feasibility of adapting it to build a vertical ‘running’ robot. We present the results a simulation study suggesting that appropriate mechanical and control alterations to the template result in fast stable climbing that preserves the characteristic body motions and foot forces found in the template model and in animals. These design changes should also allow the robot to operate with commercially available actuators and in the same power to weight range as other running and climbing robots.
dc.description.commentsProceedings of the 9th International Conference on Climbing and Walking Robots, Brussels, Belgium, Sep. 2006.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/33719
dc.legacy.articleid1547
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1547&context=ese_papers&unstamped=1
dc.source.issue504
dc.source.journalDepartmental Papers (ESE)
dc.source.statuspublished
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.subject.otherEngineering
dc.titleToward a Dynamic Vertical Climbing Robot
dc.typeWorking Paper
digcom.identifierese_papers/504
digcom.identifier.contextkey922712
digcom.identifier.submissionpathese_papers/504
digcom.typeworkingpaper
dspace.entity.typePublication
relation.isAuthorOfPublicationfa701717-e6fa-49c0-a721-6d8e53ab407b
relation.isAuthorOfPublicationbac7ef34-72db-4720-917e-51353b416c9e
relation.isAuthorOfPublication100108a4-aa4e-42ba-a7f0-976d39a44df1
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublication.latestForDiscoveryfa701717-e6fa-49c0-a721-6d8e53ab407b
upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
CLAWAR_DynamicClimber.pdf
Size:
363.38 KB
Format:
Adobe Portable Document Format
Download
Collection
Working Papers