Making Orthogonal Transitions with Climbing Mini-Whegs

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#Gregory Wile #Kathryn A. Daltorio #Luther Palmer #Timothy Witushynsky #Lori Southard #Mohd Rasyid Ahmad #Anas Malek #Stanislav N. Gorb #Alexander Boxerbaum #Roy Earl Ritzmann #Roger D. Quinn #BiologicallyInspired Robots #Legged Robots #Biomimetics #Climbing MiniWhegs #orthogonal surfaces

In this video, body joints are explored for use on Climbing Mini-Whegs to help the robot make transitions between orthogonal surfaces. The climbing robots use various end-effectors, such as tape, to operate in specific vertical environments. First, the robot drives forward until the front wheel-legs move past the point of transition while the body joint remains straight. Next, the body joint flexes downward until the front wheel-legs touch the top surface.The middle wheel-legs are placed on the top surface and the body joint straightens so that the rear wheel-legs detach from the previous surface.

In this video, body joints are explored for use on Climbing Mini-Whegs to help the robot make transitions between orthogonal surfaces. The climbing robots use various end-effectors, such as tape, to operate in specific vertical environments.

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