The RiSE Climbing Robot: Body and Leg Design

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Title: The RiSE Climbing Robot: Body and Leg Design
Author: Saunders, Aaron ; Goldman, Daniel I. ; Full, Robert J. ; Buehler, Martin
Abstract: The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE’s body and leg design as well as its electromechanical, communications and computational infrastructure. We review design iterations that enable RiSE to climb 90o carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.
Description: ©2006 SPIE--The International Society for Optical Engineering. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. The electronic version of this article is the complete one and can be found online at: http://dx.doi.org/10.1117/12.666150 DOI: 10.1117/12.666150
Type: Proceedings
URI: http://hdl.handle.net/1853/44549
ISSN: 0277-786X
ISBN: 9780819462862
Citation: A. Saunders, D. I. Goldman, R. J. Full, and M. Buehler, "The RiSE Climbing Robot: Body and Leg Design," Unmanned Systems Technology VIII, edited by Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage, Proc. of SPIE Vol. 6230, 623017, (2006)
Date: 2006
Contributor: Georgia Institute of Technology. School of Physics
University of California, Berkeley. Dept. of Electrical Engineering and Computer Sciences
Publisher: Georgia Institute of Technology
Society of Photo-optical Instrumentation Engineers (SPIE)
Subject: Climbing robots
Bioinspired design
Power autonomous locomotion
Scansorial agility

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