Design of a Wall-Climbing Hexapod for Advanced Maneuvers

被引：6
|
作者：
Palmer, L. R., III [1 ]
Diller, E. D. [1 ]
Quinn, R. D. [1 ]
机构：
[1] Case Western Reserve Univ, Dept Mech & Aerosp Engn, Cleveland, OH 44106 USA
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
ROBOT;
D O I：
10.1109/IROS.2009.5354753
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A hexapod designed for wall climbing with a body joint and six 3-DOF legs can perform complex maneuvers such as sharp turns, making both interior and exterior transitions between vertical and horizontal surfaces, and traversing obstacles on both surfaces. This paper presents work toward the design and construction of the hexapod DIGbot, named for its utilization of Distributed Inward Gripping (DIG) to generate adhesive forces. The biologically-inspired DIG approach allows robots to climb on surfaces of any orientation with respect gravity, including ceilings, or in zero gravity environments.
引用
收藏
页码：625 / 630
页数：6
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