ICRA 2011 Paper Abstract

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Paper WeAV215.2

Capua, Alon (Ben Gurion University of the Negev), Shapiro, Amir (Ben Gurion University of the Negev), Shoval, Shraga (Ariel University Center)

SpiderBot: A Cable Suspended Mobile Robot

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:13−10:21, Room 3A

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 December 8, 2019

Keywords Mechanism Design of Mobile Robots, Biomimetics, Underactuated Robots

Abstract

This paper presents a novel concept of a mobile cable suspended robot called SpiderBot. The paper concerns with the design, kinematics, statics and motion planning of this robot. The robot consists of several cable-mechanisms and a central body. Each cable-mechanism includes a cable, a dispensing and rolling mechanism, and a gripper at the end of the cable. The robot shoots and arrow which is attached to the end of the cable towards possible grasping points in the surrounding environment. Then it pulls the cables simultaneously in a coordinated manner, hence the robot can perform controlled motion of the central body. Depending on the locations of the grasping points and the coordinated pulling, the robot can perform stable motion around and over obstacles. We present a motion planning algorithm, simulation results and experiments that were conducted using our SpiderBot Prototype.

 

 

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