Name
Abstract | ||
|---|---|---|
High-rise tasks in agriculture, forestry and building industry requires robots possessing climbing function. Motivated by these potential applications and inspired by the climbing motion of animals such as inchworms, we have developed a novel biped climbing robot - Climbot. Built with a modular approach, the robot consists of five 1-DoF joint modules connected in series and two special grippers mounted at the ends. With this configuration, Climbot is able not only to climb a variety of media, but also to grasp and manipulate objects, and hence is a ??mobile?? manipulator. In this paper, we first introduce the development of this novel robot, and then illustrate three climbing gaits based on the unique configuration of the robot. Experiments of climbing poles are carried out to verify the climbing functions and to demonstrate potential application of the proposed robot. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/IROS.2011.6094406 | IROS |
Keywords | Field | DocType |
bio-inspired robot,1-dof joint module,climbing robot,climbot,legged locomotion,climbing gait,path planning,grippers,climbing poles,modular robot,mobile manipulator,modular bio-inspired biped climbing robot,gripper,kinematics,gears,indexing terms | Motion planning,Robot control,Kinematics,GRASP,Simulation,Computer science,Control engineering,Modular design,Robot,Climbing,Grippers | Conference |
Volume | Issue | ISSN |
null | null | 2153-0858 |
ISBN | Citations | PageRank |
978-1-61284-454-1 | 5 | 0.52 |
References | Authors | |
13 | 9 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yisheng Guan | 1 | 137 | 45.41 |
| Li Jiang | 2 | 5 | 0.52 |
| Haifei Zhu | 3 | 20 | 13.25 |
| Xuefeng Zhou | 4 | 37 | 12.04 |
| Chuanwu Cai | 5 | 9 | 2.66 |
| Wenqiang Wu | 6 | 17 | 6.01 |
| Zhanchu Li | 7 | 5 | 0.52 |
| Hong Zhang | 8 | 38 | 9.31 |
| X. Zhang | 9 | 88 | 34.08 |