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Galen Clark Haynes

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Biologically Inspired Climbing with a Hexapedal Robot

Journal of Field Robotics, 2008

M. A. Spenko*, G. C. Haynes†, J. A. Saunders‡, M. R. Cutkosky**, A. A. Rizzi‡, R. J. Full‡‡, D. E. Koditschek§

*: Mechanical and Aerospace Engineering, Illinois Institute of Technology
†: The Robotics Institute, Carnegie Mellon University
‡: Boston Dynamics, Inc.
**: Department of Mechanical Engineering, Stanford University
‡‡: Department of Integrative Biology, University of California, Berkeley
§: Electrical and Systems Engineering, University of Pennsylvania
Full PDF | Penn Scholarly Commons | Web Link

Attach:histogram.png Δ | Comparison of estimator MSE for an approximate algorithm to the ideal Bayes estimator presented in this paper

This paper presents an integrated, systems-level view of several novel design and control features associated with the biologically inspired, hexapedal, RiSE (Robots in Scansorial Environments) 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 bioinspired 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 robotís ability to climb reliably for long distances.
BibTeX entry
Author = {M. A. Spenko and G. C. Haynes and A. Saunders and
          A. A. Rizzi and M. Cutkosky and R. J. Full and
          D. E. Koditschek},
TITLE = {Biologically Inspired Climbing with a Hexapedal Robot},
JOURNAL = {Journal of Field Robotics},
YEAR = {2008},
VOLUME = {25},
NUMBER = {4-5},
PAGES = {223-242},

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