Towards Penetration-based Clawed Climbing

Provancher, William R.; Clark, Jonathan E.; Geisler, Bill; Cutkosky, Mark R.

doi:10.1007/3-540-29461-9_94

Cited by 36 publications

(30 citation statements)

References 13 publications

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“…They are useful for climbing trees and other soft surfaces. The load/penetration characteristics of these single-point claws are discussed in (Provancher et al, 2005) and depend significantly on the approach angle and claw tip radius. Spines are characterized by a tuned compliance between a metal hook that engages with asperities on the climbing surface and the body of the robot.…”

Section: Spiny Feet For Climbingmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

408

265

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This paper presents an integrated, systems level view of several novel design and control features associated with the biologically-inspired, hexapedal, RiSE robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed stone at speeds up to 4 cm/s, quietly and without the use of suction, magnets, or adhesives. It achieves these capabilities through a combination of bio-inspired and traditional design methods. This paper describes the design process and specifically addresses body morphology, hierarchical compliance in the legs and feet, and sensing and control systems that enable robust and reliable climbing on difficult surfaces. Experimental results illustrate the effects of various behaviors on climbing performance and demonstrate the robot's ability to climb reliably for long distances.

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Section: Spiny Feet For Climbingmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

408

265

View full text Add to dashboard Cite

show abstract

“…Only recently, several bio-inspired robots have been developed, which are capable of climbing up vertical walls (Provancher et al 2004;Asbeck et al 2006;Autumn et al 2006a). However, some climbing robots appear to have difficulty climbing head down, i.e.…”

mentioning

confidence: 99%

Pushing versus pulling: division of labour between tarsal attachment pads in cockroaches

2008

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Adhesive organs on the legs of arthropods and vertebrates are strongly direction dependent, making contact only when pulled towards the body but detaching when pushed away from it. Here we show that the two types of attachment pads found in cockroaches (Nauphoeta cinerea), tarsal euplantulae and pretarsal arolium, serve fundamentally different functions. Video recordings of vertical climbing revealed that euplantulae are almost exclusively engaged with the substrate when legs are pushing, whereas arolia make contact when pulling. Thus, upward-climbing cockroaches used front leg arolia and hind leg euplantulae, whereas hind leg arolia and front leg euplantulae were engaged during downward climbing. Single-leg friction force measurements showed that the arolium and euplantulae have an opposite direction dependence. Euplantulae achieved maximum friction when pushed distally, whereas arolium forces were maximal during proximal pulls. This direction dependence was not explained by the variation of shear stress but by different contact areas during pushing or pulling. The changes in contact area result from the arrangement of the flexible tarsal chain, tending to detach the arolium when pushing and to peel off euplantulae when in tension. Our results suggest that the euplantulae in cockroaches are not adhesive organs but 'friction pads', mainly providing the necessary traction during locomotion.

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“…Using this setup, we film the perching sequence with a high speed camera [14] at 1,000 Hz. The shape and size of the needles that are used to attach have an influence on the attachment strength [29]. In order to keep this parameter constant, we sharpen the tips of the needles at an angle of 5°using a metal grinder.…”

Section: Resultsmentioning

confidence: 99%

A perching mechanism for micro aerial vehicles

Kovač

Germann

Hürzeler

et al. 2009

J. Micro-Nano Mech.

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Micro Aerial Vehicles (MAVs) with perching capabilities can be used to efficiently place sensors in aloft locations. A major challenge for perching is to build a lightweight mechanism that can be easily mounted on a MAV, allowing it to perch (attach and detach on command) to walls of different materials. To date, only very few systems have been proposed that aim at enabling MAVs with perching capabilities. Typically, these solutions either require a delicate dynamic flight maneuver in front of the wall or expose the MAV to very high impact forces when colliding Electronic supplementary material The online version of this article (head-first with the wall. In this article, we propose a 4.6 g perching mechanism that allows MAVs to perch on walls of natural and man-made materials such as trees and painted concrete facades of buildings. To do this, no control for the MAV is needed other than flying head-first into the wall. The mechanism is designed to translate the impact impulse into a snapping movement that sticks small needles into the surface and uses a small electric motor to detach from the wall and recharge the mechanism for the next perching sequence. Based on this principle, it damps the impact forces that act on the platform to avoid damage of the MAV. We performed 110 sequential perches on a variety of substrates with a success rate of 100%. The main contributions of this article are (i) the evaluation of different designs of perching, (ii) the description and formal modeling of a novel perching mechanism, and (iii) the demonstration and characterization of a functional prototype on a microglider. (See accompanying video and

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Towards Penetration-based Clawed Climbing

Cited by 36 publications

References 13 publications

Biologically inspired climbing with a hexapedal robot

Biologically inspired climbing with a hexapedal robot

Pushing versus pulling: division of labour between tarsal attachment pads in cockroaches

A perching mechanism for micro aerial vehicles

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