A dynamic single actuator vertical climbing robot

A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This robot relies on its own internal dynamic motions to gain height, unlike previous mechanisms which are quasi- static. One benefit of dynamics is that it allows climbing with only a single actuated degree of freedom. We show with analysis, simulations and experiments that this dynamic robot is capable of climbing vertically between parallel walls. We introduce simplifications that enable us to obtain closed form approximations of the robot motion. Furthermore, this provides us with some design considerations and insights into the mechanism's ability to climb.

Authors

• Amir Degani
• Amir Shapiro
• Howie Choset
• Matthew T. Mason

Keywords

• Climbing robots
• Fixtures
• Shape control
• Intelligent robots
• USA Councils
• Intelligent actuators
• Analytical models
• Parallel robots
• Robot motion
• Actuator
• Single Actuator
• Climbing Robot
• Degrees Of Freedom
• Dynamic Movement
• Dynamic Motion
• Parallel Walls
• System Dynamics
• Friction
• Differential Equations
• Angular Velocity
• Point-like
• Angular Momentum
• Mechanical Design
• Contact Force
• Normal Force
• Mechanical Motion
• Opposite Wall
• Single Degree Of Freedom
• Mass Velocity
• Flight Phase
• Number Of Actuators