climbing robots

50 %
50 %
Information about climbing robots
Education

Published on January 4, 2008

Author: Nevada

Source: authorstream.com

Toward Autonomous Free-Climbing Robots:  Toward Autonomous Free-Climbing Robots Tim Bretl Jean-Claude Latombe Stephen Rock Special thanks to Eric Baumgartner, Brett Kennedy, and Hrand Aghazarian at the Planetary Robotics Lab, NASA-JPL Goal:  Goal Develop integrated control, planning, and sensing capabilities to enable a wide class of multi-limbed robots to climb steep natural terrain. Generic vs. Specific Robot:  LEMUR IIb, Planetary Robotics Lab, NASA-JPL Generic vs. Specific Robot Generic Specific Sitti and Fearing, UC Berkeley Previous Multi-Limbed Climbing Robots:  Previous Multi-Limbed Climbing Robots Each exploits a specific surface property NINJA II Hirose et al, 1991 Neubauer, 1994 Yim, PARC, 2002 Free Rock Climbing is about Natural Friction …:  Free Rock Climbing is about Natural Friction … … and Non-Gaited Motion:  … and Non-Gaited Motion Gaited Non-Gaited Slide7:  Overall, rock climbing is about how to apply strength, not about strength itself it is a problem-solving activity Example System:  Example System Equilibrium Constraint:  Equilibrium Constraint Feasible positions of robot’s center of mass Configuration Space:  Configuration Space For each combination of knee bends: Position (xP,yP) of pelvis Joint angles (q1,q2) of free limb Feasible Space:  Feasible Space Slide12:  Simple test for the feasibility of (xp,yp) where… Feasible Space Slide13:  Simple test for the feasibility of (xp,yp) Feasible (1,2) varying with (xp,yp), in one half of f where… Qf Feasible Space Slide14:  Simple test for the feasibility of (xp,yp) Feasible (1,2), varying with (xp,yp), in one half of f Switching between halves of f Feasible Space Motion Planning:  Motion Planning Basic Approach (Probabilistic Roadmap) Sample 4D configuration space Check equilibrium condition Check (self-)collision Check torque limit Refined approach Sample 2D pelvis space, lift to full 4D paths Narrow passages are found in the 4D space Slide16:  Achieve q2=0 Move with q2=0 Switch between halves of Qf Move with q2=0 Move to goal Slide17:  backstep highstep lieback Slide18:  JPL’s LEMUR robot Current Work:  Current Work Terrain sensing and hold detection Force control and slippage sensing Uncertainty (hold location, limb positioning) Motion optimization Extension of feasible space analysis What’s Next?:  What’s Next? Xtreme ironing Slide22:  Xtreme ironing is one of the fastest-growing sports in the world

Add a comment

Related presentations

Related pages

Tree Climbing Robot - Instructables - DIY How To Make ...

Intro: Tree Climbing Robot. After I got comfortable programming and building with an Arduino, I decided to build a robot. I did not have any particular ...
Read more

Wall-Climbing Robot | MIT Technology Review

Climbing the walls: As the robot’s motor turns, its tail presses against the surface, and its triangular legs rotate forward (a). As its front feet come ...
Read more

15 wall climbing robots - oobject - Daily User Ranked Lists

15 wall climbing robots. Robots often look insect like, largely because of their jerky movements and exo-skeletal look, both of which are a result of them ...
Read more

Category:Climbing robots - Wikipedia, the free encyclopedia

Pages in category "Climbing robots" The following 4 pages are in this category, out of 4 total. This list may not reflect recent changes . ...
Read more

stairBOT - Stair climbing Robot - Description

Brief description: Principal data: stairBOT is a small robot for indoor environments. On even floor it drives like many other ...
Read more

Wall-Climbing Robot Spies - IEEE Spectrum

Gecko-inspired robots rely on directional adhesive feet; a new wall-climbing robot uses electrostatic adhesion
Read more

Na Komín 2016 | Robot Climbing Competition

To design and build a robot capable of climbing the chimney (chimney ladder) at the CASSOVAR BUSINESS CENTER complex, Žriedlová 13, Košice, Slovakia
Read more

Climbing Robots | Drupal - MENRVA Research Group | Drupal

The MENRVA group is focusing on the design and development of different climbing systems to be used for both servicing operations on Earth and Space ...
Read more

Climbing Robots for Commercial Applications - a survey

Climbing Robots for Commercial Applications – a Survey K. Berns, C. Hillenbrand, T. Luksch University of Kaiserslautern, 67653 Kaiserslautern, Germany
Read more

climbing and walking robots - AbeBooks

Climbing and Walking Robots : CLAWAR 99 Proceedings International Conference Portsmouth, UK 1999 von Virk, G. S. und eine große Auswahl von ähnlichen ...
Read more