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dc.contributor.authorClark, Jonathan E.en_US
dc.contributor.authorGoldman, Daniel I.en_US
dc.contributor.authorChen, Tao S.en_US
dc.contributor.authorFull, Robert J.en_US
dc.contributor.authorKoditschek, Daniel E.en_US
dc.date.accessioned2012-08-16T20:19:36Z
dc.date.available2012-08-16T20:19:36Z
dc.date.issued2006
dc.identifier.citationJonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full and Daniel E. Koditschek, "Toward a dynamic climbing robot,” submitted to CLAWAR 2006, 9th International Conference on Climbing and Walking Robots.en_US
dc.identifier.urihttp://hdl.handle.net/1853/44547
dc.descriptionSubmitted to 9th International conference on climbing and walking robots : CLAWAR 2006.en_US
dc.description.abstractSimple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a recently proposed biologically-based template for dynamic vertical climbing, and evaluates the feasibility of adapting it to build a vertical ‘running’ robot. We present the results a simulation study suggesting that appropriate mechanical and control alterations to the template result in fast stable climbing that preserves the characteristic body motions and foot forces found in the template model and in animals. These design changes should also allow the robot to operate with commercially available actuators and in the same power to weight range as other running and climbing robots.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectMathematical modelsen_US
dc.subjectTemplates of locomotionen_US
dc.subjectRobot designen_US
dc.subjectClimbing robotsen_US
dc.titleToward a dynamic climbing roboten_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Physicsen_US
dc.contributor.corporatenameUniversity of California, Berkeley. Dept. of Electrical Engineering and Computer Sciencesen_US


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