Climbot: A Bio Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and ExperimentsSource: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 002::page 21026Author:Guan, Yisheng
,
Jiang, Li
,
Zhu, Haifei
,
Wu, Wenqiang
,
Zhou, Xuefeng
,
Zhang, Hong
,
Zhang, Xiangmin
DOI: 10.1115/1.4028683Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Agriculture, forestry, and building industry would be prospective fields of robotic applications. Highrise tasks in these fields require robots with climbing skills. Motivated by these potential applications and inspired by animal climbing motion, we have developed a biped climbing robot—Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two special grippers mounted at the ends, with the scalability of changing degreesoffreedom (DoFs). With this configuration, Climbot not only has superior mobility on multiple climbing media, such as poles and trusses, but also has the function of grasping and manipulating objects. It is a kind of “mobile†manipulator and represents an advancement in development of climbing robots. In this paper, we first present the development of this climbing robot with modular and bioinspired methods, and then propose and compare three climbing gaits based on the unique configuration and features of the robot. A series of challenging and comprehensive experiments with the robot climbing in a truss and performing an outdoor manipulation task are carried out, to illustrate the feasibility, the features, the climbing, and manipulating functions of the robot, and to verify the effectiveness of the proposed gaits.
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contributor author | Guan, Yisheng | |
contributor author | Jiang, Li | |
contributor author | Zhu, Haifei | |
contributor author | Wu, Wenqiang | |
contributor author | Zhou, Xuefeng | |
contributor author | Zhang, Hong | |
contributor author | Zhang, Xiangmin | |
date accessioned | 2017-05-09T01:31:08Z | |
date available | 2017-05-09T01:31:08Z | |
date issued | 2016 | |
identifier issn | 1942-4302 | |
identifier other | jmr_008_02_021026.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161837 | |
description abstract | Agriculture, forestry, and building industry would be prospective fields of robotic applications. Highrise tasks in these fields require robots with climbing skills. Motivated by these potential applications and inspired by animal climbing motion, we have developed a biped climbing robot—Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two special grippers mounted at the ends, with the scalability of changing degreesoffreedom (DoFs). With this configuration, Climbot not only has superior mobility on multiple climbing media, such as poles and trusses, but also has the function of grasping and manipulating objects. It is a kind of “mobile†manipulator and represents an advancement in development of climbing robots. In this paper, we first present the development of this climbing robot with modular and bioinspired methods, and then propose and compare three climbing gaits based on the unique configuration and features of the robot. A series of challenging and comprehensive experiments with the robot climbing in a truss and performing an outdoor manipulation task are carried out, to illustrate the feasibility, the features, the climbing, and manipulating functions of the robot, and to verify the effectiveness of the proposed gaits. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Climbot: A Bio Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and Experiments | |
type | Journal Paper | |
journal volume | 8 | |
journal issue | 2 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4028683 | |
journal fristpage | 21026 | |
journal lastpage | 21026 | |
identifier eissn | 1942-4310 | |
tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 002 | |
contenttype | Fulltext |