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dc.contributor.authorClark, Jonathan E.en_US
dc.contributor.authorGoldman, Daniel I.en_US
dc.contributor.authorLin, Pei-Chunen_US
dc.contributor.authorLynch, Goranen_US
dc.contributor.authorChen, Tao S.en_US
dc.contributor.authorKomsuoglu, Haldunen_US
dc.contributor.authorFull, Robert J.en_US
dc.contributor.authorKoditschek, Daniel E.en_US
dc.identifier.citationJonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao S. Chen, Haldun Komsuoglu, Robert J. Full, and Daniel E. Koditschek, "Design of a Bio-inspired Dynamical Vertical Climbing Robot,” Proceedings of Robotics: Science and Systems (2007)en_US
dc.description© 2008 MIT Pressen_US
dc.descriptionPresented at the third Robotics: Science and Systems Conference, 2007, Atlanta, GAen_US
dc.description.abstractThis paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents emperical data from a physical prototype as evidence of the feasibility of adapting the dynamics of the template to robot that runs vertically upward. The recently proposed pendulous climbing model abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. The present paper’s first contribution summarizes a numerical study of this model to hypothesize that these animals’ apparently wasteful commitments to lateral oscillations may be justified by a significant gain in the dynamical stability and, hence, the robustness of their resulting climbing capability. The paper’s second contribution documents the design and offers preliminary empirical data arising from a physical instantiation of this model. Notwithstanding the substantial differences between the proposed bio-inspired template and this physical manifestation, initial data suggest the mechanical climber may be capable of reproducing both the motions and ground reaction forces characteristic of dynamical climbing animals. Even without proper tuning, the robot’s steady state trajectories manifest a substantial exchange of kinetic and potential energy, resulting in vertical speeds of 0.30 m/s (0.75 bl/s) and claiming its place as the first bio-inspired dynamical legged climbing platform.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectClimbing robotsen_US
dc.subjectRobot designen_US
dc.subjectBioinspired designen_US
dc.subjectCommon dynamical patternen_US
dc.titleDesign of a Bio-inspired Dynamical Vertical Climbing Roboten_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Physicsen_US
dc.contributor.corporatenameUniversity of Pennsylvania. GRASP Laboratoryen_US
dc.contributor.corporatenameUniversity of Pennsylvania. Dept. of Electrical and Systems Engineeringen_US
dc.contributor.corporatenameUniversity of California, Berkeley. PolyPedal Laboratoryen_US
dc.contributor.corporatenameUniversity of California, Berkeley. Dept. of Integrative Biologyen_US
dc.publisher.originalMIT Pressen_US

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