Departmental Papers (ESE)

A Spring-Assisted One Degree of Freedom Climbing Model

J. E. Clark, University of Pennsylvania
D. E. Koditschek, University of Pennsylvania

Document Type Conference Paper

BibTeX entry

@inproceedings{J. E. Clark-LNCIS-2006, author = {J. E. Clark and D. E. Koditschek et al}, title = {A Spring-Assisted One Degree of Freedom Climbing Model}, booktitle = {Lecture Notes on COntrol and Information Sciences}, volume = {vol. 3} pages = {43-64} year = {2006}, address = {Philadelphia, PA, USA}, }


A dynamic model of running–the spring-loaded inverted pendulum(SLIP)–has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operation. This paper introduces a one degree of freedom model of a climbing robot used to investigate the power constraints involved with climbing in a dynamic manner. Particular attention is paid to understanding how springs and body dynamics can be exploited to help relieve a limited power/weight ratio and achieve dynamic running and climbing.

The development of the RiSE platform was supported by DARPA under grant number N66001–05-C-8025. Jonathan Clark is supported by the DCI Postdoctoral Fellow Program under grant number HM158204–1−2030.

For more information: Kod*Lab


Date Posted: 28 October 2013

This document has been peer reviewed.