ICRA 2011 Paper Abstract

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Paper TuA202.4

Degani, Amir (Carnegie Mellon University), Feng, Siyuan (Carnegie Mellon University), Brown, H. Ben (Carnegie Mellon University), Lynch, Kevin (Northwestern University), Choset, Howie (Carnegie Mellon University), Mason, Matthew T. (Carnegie Mellon University)

The ParkourBot - a Dynamic BowLeg Climbing Robot

Scheduled for presentation during the Regular Sessions "Climbing Robots" (TuA202), Tuesday, May 10, 2011, 10:50−11:05, Room 3C

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 April 21, 2019

Keywords Climbing robots, Mechanism Design of Mobile Robots, Multi-legged Robots

Abstract

The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to “kick off” the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

 

 

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