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Paper TuC07.5

Rosa, Nelson (Northwestern University), Barber, Adam (Northwestern University), Gregg, Robert D. (Northwestern University), Lynch, Kevin (Northwestern University)

Stable Open-Loop Brachiation on a Vertical Wall

Scheduled for presentation during the Regular Session "Climbing Robots" (TuC07), Tuesday, May 15, 2012, 15:30−15:45, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Climbing Robots, Underactuated Robots, Passive Walking

Abstract

This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary directions. The first case considered is passive brachiation down a shallow slope, roughly corresponding to upside-down locomotion of the well-studied compass-gait biped. We then consider underactuated brachiation with a constant forcing term at the elbow to produce open-loop stable descending and ascending gaits.

 

 

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