ICRA 2011 Paper Abstract

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Paper ThA206.5

Hemes, Brett (CSE, UMN), Canelon-Suarez, Dario (CSE, Un. of Minensota), Dans, Justin (CSE, Univ. of Minnesota), Papanikolopoulos, Nikos (University of Minnesota)

Robotic Tumbling Locomotion

Scheduled for presentation during the Regular Sessions "Mechanism Design of Mobile Robots II" (ThA206), Thursday, May 12, 2011, 11:05−11:20, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Mechanism Design of Mobile Robots, Search and Rescue Robots

Abstract

Tumbling robots provide the potential to produce increased mobility on smaller scales with minimal hardware requirements. In this paper we investigate the case of a tumbling robot climbing a vertical step. We examine the issue from both a purely geometric viewpoint and then with the addition of external and frictional forces. The result is a set of parametric configurations equations for tumbling robots climbing vertical steps. Plots comparing the theoretical values of wheel-tail and tumbling robots are discussed along with experimental results of the Adelopod-T platform performing a step climbing task in which we found the maximum step height for the robot for varying combinations of frictional coefficients at the step and ground.

 

 

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