The RiSE Climbing Robot: Body and Leg Design

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dc.contributor.author Saunders, Aaron en_US
dc.contributor.author Goldman, Daniel I. en_US
dc.contributor.author Full, Robert J. en_US
dc.contributor.author Buehler, Martin en_US
dc.date.accessioned 2012-08-16T20:19:37Z
dc.date.available 2012-08-16T20:19:37Z
dc.date.issued 2006
dc.identifier.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) en_US
dc.identifier.isbn 9780819462862
dc.identifier.issn 0277-786X
dc.identifier.uri http://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/10.1117/12.666150 en_US
dc.description DOI: 10.1117/12.666150 en_US
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Climbing robots en_US
dc.subject Bioinspired design en_US
dc.subject Power autonomous locomotion en_US
dc.subject Scansorial agility en_US
dc.title The RiSE Climbing Robot: Body and Leg Design en_US
dc.type Proceedings en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Physics en_US
dc.contributor.corporatename University of California, Berkeley. Dept. of Electrical Engineering and Computer Sciences en_US
dc.publisher.original Society of Photo-optical Instrumentation Engineers (SPIE) en_US


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