Analysis of Gait Control of Wall-Climbing Caterpillar Robot

摘要：

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

作者: D. Z. Li X. Y. Ma K. Wang W. Wang H. X. Zhang G. H. Zong

作者单位: Robotics Institute,School of Mechanical Engineering and Automation,Beihang University,100191,Beijing Institute of Technical Aspects of Multimodal Systems,Department of Computer Science,University of Ha

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1929-1934

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）