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A Spring-Assisted One Degree of Freedom Climbing Model

Lecture Notes on Control and Information Sciences, 2006

J. E. Clark*, D. E. Koditschek*
*: University of Pennsylvania
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Abstract
      A dynamic model of running–the spring-loaded inverted pendulum(SLIP)–has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operation. This paper introduces a one degree of freedom model of a climbing robot used to investigate the power constraints involved with climbing in a dynamic manner. Particular attention is paid to understanding how springs and body dynamics can be exploited to help relieve a limited power/weight ratio and achieve dynamic running and climbing.
The development of the RiSE platform was supported by DARPA under grant number N66001–05-C-8025. Jonathan Clark is supported by the DCI Postdoctoral Fellow Program under grant number HM158204–1−2030.
BibTeX entry
@inproceedings{J. E. Clark-LNCIS-2006,
  author       = {J. E. Clark and D. E. Koditschek et al},
  title        = {A Spring-Assisted One Degree of Freedom Climbing Model},
  booktitle    = {Lecture Notes on COntrol and Information Sciences},
  volume       = {vol. 3}
  pages        = {43-64}
  year         = {2006},
  address      = {Philadelphia, PA, USA},
}

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