Paper Info
Title
Design and Realization of a Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers
Abstract
This paper presents a novel inspired modular climbing caterpillar. First, related issues such as the attachment principles and locomotion kinematics of climbing robots are summarized systematically. Based on the investigation of the movement mechanism of natural caterpillars, we combine climbing techniques with a modular approach to realize a novel prototype as a flexible wall-climbing robotic platform featuring an easy-to-build mechanical structure, a low-frequency vibrating passive attachment principle and various locomotion capabilities. The robot consists of cross-connected modules for moving. There are only two kinds of modules in the system: (i) the head and tail module, and (ii) the body module. Active joints actuated by RC servos endow the connecting modules with the ability to change shapes in two dimensions. After explaining these principles, the discussion focuses on the robot's various locomotion capabilities. Linear movements, turning movements, lateral movements, and rotating and rolling movements are achieved by an inspired control model to produce rhythmic motion. An easy-to-build modular caterpillar is designed and manufactured as an experimental prototype to confirm the feasibility of our design principle and the robot's capabilities. Finally, a conclusion is given and future work is outlined. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
Year
DOI
Venue
2009
10.1163/156855309X442990
ADVANCED ROBOTICS
Keywords
Field
DocType
Climbing robot,modular caterpillar,passive attachment principle,system design
Kinematics,Servo,Simulation,Climbing robots,Systems design,Control engineering,Modular design,Engineering,Robot,Climbing
Journal
Volume
Issue
ISSN
23
7-8
0169-1864
Citations 
PageRank 
References 
3
0.46
3
Authors
4
Name
Order
Citations
PageRank
Houxiang Zhang118839.57
Wei Wang21474152.25
Juan González-Gómez351.55
Jianwei Zhang429740.15