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Shady3D: A Robot that Climbs 3D Trusses

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2 Author(s)
Yoon, Y. ; Comput. Sci. & Artificial Intelligence Lab, MIT, Cambridge, MA ; Rus, D.

This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design and implementation of this robot, control algorithms for moving the robot in a 3D truss structure, and hardware experiments

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007