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Foundations of Robotics
Seminar, October 16, 2007
Time
and Place | Seminar Abstract | Speaker
Appointments
A Dynamic Single Actuator
Vertical Climbing Robot
Amir Degani
Smith Hall 100
Talk 4:00 pm
A single actuator climbing robot is introduced, which
unlike most of today’s climbing robots that move very slowly (i.e., quasi-statically),
climbs dynamically. Using dynamic motions has two advantages in climbing. The first
is the ability to overcome obstacles which are impossible to pass in a quasi-static
motion. One example is a human climber that cannot reach its next handhold
quasi-statically, but can leap forward using dynamic movements. The second
advantage is minimizing the number of actuators in a mechanism. We take
advantage of this quality and use dynamic motions to implement a minimalist
climbing mechanism. This mechanism consists of only two links, connected by a single
motor. In order to climb it swings one of the links, which gives the whole
system enough inertia change to climb upwards.
In this talk, I will present the proposed mechanism
followed by analysis, simulations and experiments. Simplifications are
introduced in order to obtain closed form approximations of the robot motion. I
will conclude by showing preliminary results of stability analysis using the Poincaré method.
For appointments, please contact Amir Degani.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.