NDLI: Walking and running of the quadruped wall-climbing robot

Content Provider	IEEE Xplore Digital Library
Author	Nagakubo, A. Hirose, S.
Copyright Year	1994
Description	Author affiliation: Dept. of Mech.-Aerosp. Eng., Tokyo Inst. of Technol., Japan (Nagakubo, A.; Hirose, S.)
Abstract	The development of a wall climbing robot which is able to move over the surface of "3-dimensional terrain", a terrain including floor, wall, ceiling of any kinds of structures with agility and terrain adaptability is strongly demanded in many industries. The conventional wall-climbing machines were far from fulfilling the demand, the authors thus have been developing a wall-climbing robot with four-terrain-adaptive legs and basic mobilities were already demonstrated by the manufactured prototype model NINJA-I. However, as there are almost no examples of wall-climbing quadrupedal animals and conventional machines, the gait control method specific for the quadruped wall-climbing is not at all known by now. As the first step to consider a general gait problem of a quadruped wall-climbing robot, this paper investigates a gait of the robot on a vertical and flat wall. The gait is analyzed with the criterion to maximize the locomotion speed under the constraints of predetermined conditions of the supporting-legs position, order and phases of swing legs to prevent turn over motion. As a result of the analysis, the optimal standard gait, named "Wall Gait", is shown to maintain foot posture of /spl Lambda/ shape and moves the leg in the order of leg1-leg2-leg4-leg3 in static walk and the order of "pace" in dynamic walk.
Starting Page	1005
Ending Page	1012
File Size	717960
Page Count	8
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351225
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Leg Service robots Climbing robots Floors Manufacturing industries Mobile robots Virtual manufacturing Prototypes Animals
Content Type	Text
Resource Type	Article

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