Gait control of modular climbing caterpillar robot

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2009, Pages 957-962

  Wang, W ^a,b   Zhang, H X ^b   Wang, K ^a   Zhang, J W ^b   Chen, W H ^a  

^a BEIHANG UNIVERSITY   (China)

^b UNIVERSITY OF HAMBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED-CHAINS; GAIT CONTROL; JOINT CONTROL; KINEMATIC CHAIN; KINEMATICS MODELS; ON-SITE TESTS; OPEN CHAIN; PHASE METHODS; UNSYMMETRICAL;

ASYMPTOTIC ANALYSIS; KINEMATICS; MATHEMATICAL MODELS; MECHATRONICS; ROBOTS;

INTELLIGENT MECHATRONICS;

EID: 70350443590     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2009.5229710     Document Type: Conference Paper

References (12)

1. B. Luk, D. Cooke, S. Galt, A. Collie, and S. Chen, "Intelligent legged climbing service robot for remote maintenance applications in hazardous environments", Journal of Robotics and Autonomous Systems, Vol. 10, No.1, pp. 101-112, 2005.
2. M. Minor and R. Mukherjee, "Under-Actuated Kinematic Structures for Miniature Climbing Robots", Journal of Mechanical Design, Vol.125, pp.281-291, June 2003.
3. M. J. Spenko, G. C. Haynes, J. A. Saunders, M. R. Cutkosky, A. A. Rizzi and R. J. Full, "Biologically Inspired Climbing with a Hexapedal Robot", Journal of Field Robotics, Volume 25, Issue 4-5, pp. 223-242, April, 2008
4. D. Longo and G. Muscato, "The Alicia climbing robot", The IEEE robotics and automation magazine, Vol.13, No.1, pp. 42-50, 2006.
5. F. Weise, J. Kohnen, H. Wiggenhauser, C. Hillenbrand, and K. Berns, "Non-destructive sensors for inspection of concrete structures with a climbing robot", Proceedings of 4th international conference on climbing and walking robots CLAWAR 2001, Karlsruhe, Germany, pp.945-952, Sep. 2001.
6. R. Schraft, F. Simons, T. Schafer, W. Keil, and S. Anderson, "Concept of a low-cost, window-cleaning robot", Proc. 6th int. Conf. Climbing and Walking Robots, CLAWAR 2003, Catania, Italy, pp.785-792, Sep. 2003.
7. H. Zhang, J. Zhang, W. Wang, R. Liu, and G. Zong, "Sky Cleaner 3-A Real Pneumatic Climbing Robot for Glass-Wall Cleaning", IEEE Robotic and Automation Magazine, Vol.13, No.1, pp.32-41, March 2006.
8. John Brackenbury, "Caterpillar kinematics", Vol. 390, 4 December, NATURE, 1997.
9. B. Trimmer and J. Issberner, "Kinematics of Soft-bodied, Legged Locomotion in Manduca sexta Larvae", Journal of Experimental Biology, 212, pp. 130-142, April 2007.
10. H Zhang, J. Gonzalez-Gomez, S. Chen, W. Wang, R. Liu, D. Li, and J. Zhang, "A Novel Module Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers", Proceeding of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, ETH Zurich, Switzerland, pp.85-90, Sept. 2007.
11. W. Wang, H. Zhang, Y. Wang, K. Wang, J. Zhang, "Analysis of the Kinematics of Module Climbing Caterpillar Robots", Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, Xi'an, China, 4 - 7 June, pp.84-89, 2008.
12. John Brackenbury, "Fast locomotion in caterpillars", Journal of Insect Physiology 45, pp. 525-533, 1999