NDLI: Preliminary analysis of a legged robot designed to climb vertical surfaces

Content Provider	IEEE Xplore Digital Library
Author	Yasong Li Ahmed, A. Wu, C. Menon, C.
Copyright Year	2009
Description	Author affiliation: MENRVA Group, School of Engineering Science, Simon Fraser University, Burnaby, Canada (Yasong Li; Ahmed, A.; Wu, C.; Menon, C.)
Abstract	This paper presents the kinematic analysis of a hexapod climbing robot relying on the use of dry adhesion. Kinematics equations are validated in both multi-body software simulation and robotic platform test. A particular trajectory of the legs, conceived to minimize force required to detach the robotic feet from a vertical wall, is proposed and tested. Further study is performed based on data acquired by forces exerted on the tip of each robotic leg during locomotion. Experimental results proved the correctness of kinematic analysis and its potential use for optimizing gait and adhesion features during wall climbing.
Starting Page	887
Ending Page	892
File Size	733270
Page Count	6
File Format	PDF
ISBN	9781424438778
DOI	10.1109/TIC-STH.2009.5444374
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-26
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Dry adhesion Climbing robot Navigation Legged robot Peeling Mobile robots Leg Robust control Adhesives Kinematics Climbing robots Robot sensing systems Hexapod Testing
Content Type	Text
Resource Type	Article

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Preliminary analysis of a legged robot designed to climb vertical surfaces