TY - GEN
T1 - Design of a milli-scale, biomimetic platform for climbing on a rough surface
AU - Choi, Hong Cheol
AU - Jung, Gwang Pil
AU - Cho, Kyu Jin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. Most robots that can climb a rough vertical wall are large and heavy due to the large number of actuators required to produce the complex locomotion. This paper proposes a novel design for a small and lightweight climbing robot that uses a single actuator. To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small spines with compliance are modeled based on the pseudo-rigid-body model. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec.
AB - Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. Most robots that can climb a rough vertical wall are large and heavy due to the large number of actuators required to produce the complex locomotion. This paper proposes a novel design for a small and lightweight climbing robot that uses a single actuator. To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small spines with compliance are modeled based on the pseudo-rigid-body model. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec.
UR - https://www.scopus.com/pages/publications/84964425602
U2 - 10.1109/ROBIO.2015.7419101
DO - 10.1109/ROBIO.2015.7419101
M3 - Conference contribution
AN - SCOPUS:84964425602
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 2205
EP - 2210
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -