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dc.contributor.authorSaunders, Aaronen_US
dc.contributor.authorGoldman, Daniel I.en_US
dc.contributor.authorFull, Robert J.en_US
dc.contributor.authorBuehler, Martinen_US
dc.date.accessioned2012-08-16T20:19:37Z
dc.date.available2012-08-16T20:19:37Z
dc.date.issued2006
dc.identifier.citationA. 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)en_US
dc.identifier.isbn9780819462862
dc.identifier.issn0277-786X
dc.identifier.urihttp://hdl.handle.net/1853/44549
dc.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/10.1117/12.666150en_US
dc.descriptionDOI: 10.1117/12.666150en_US
dc.description.abstractThe 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectClimbing robotsen_US
dc.subjectBioinspired designen_US
dc.subjectPower autonomous locomotionen_US
dc.subjectScansorial agilityen_US
dc.titleThe RiSE Climbing Robot: Body and Leg Designen_US
dc.typeProceedingsen_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
dc.publisher.originalSociety of Photo-optical Instrumentation Engineers (SPIE)en_US


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