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Climbing gaits of a modular biped climbing robot

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4 Author(s)
Yisheng Guan ; Biomimetic & Intell. Robot. Lab. (BIRL), South China Univ. of Technol., Guangzhou, China ; Li Jiang ; Xianmin Zhang ; Hong Zhang

For high-rise work in fields such as agriculture, forestry and architecture, and inspired by the climbing motion of inchworms, chimpanzees, and sloths, we have developed a biped climbing robot - Climbot. Consisting of five 1-DOF joint modules in series and two special grippers at the ends, Climbot is capable of grasping objects and climbing poles, trees and trusses. In this paper, we first introduce this novel robot, and then present three climbing gaits. We perform simulation to illustrate, verify and compare the proposed climbing gaits.

Published in:

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Date of Conference:

14-17 July 2009