RiSE: First Steps up the Wall

Clark Haynes and Sarjoun Skaff

Abstract

In this talk we will introduce RiSE, a robotic hexapod designed to climb vertical surfaces, and report on the recent field tests done at the Southwest Research Institute (SwRI).

The RiSE project aims at enabling dynamic locomotion over a variety of surfaces. This talk describes the first steps toward that goal. A prototype robot has been developed with a leg configuration that allows both walking and climbing. Multiple types of feet are used for locomotion over different surfaces. Round, rubbery feet are used to walk on horizontal surfaces; sharp, "spiny" feet enable attachment to soft vertical surfaces (carpet and cork); and flat, sticky feet provide adhesion on hard inclined surfaces (Plexiglas).

Each of the six legs is actuated with a 2 DOF gear differential. Sets of leg trajectories, robot gaits, are developed for each surface and guide the feet through attachment and detachment. Structural properties of a given surface dictate how the robot attaches, how many legs are required to support the body of the robot, as well as how fast the robot can locomote. For fragile surfaces, tetrapod and pentapod gaits distribute the forces evenly on the surface. On surfaces where foot attachment is less of an issue, tripod gaits enable higher locomotion speeds.

Experimental validation of the system is conducted at SwRI. This presentation will include videos and photographs of the testing setup, performance results on various surfaces, lessons learned in the last 18 months of development, and directions for the next phase of research.

Presentation Slides

Ppt (4.6Mb)

 

Speaker Appointments

For appointments, please contact Clark Haynes and Sarjoun Skaff (Sarjoun Skaff and Clark Haynes).