The ParkourBot – A Dynamic BowLeg Climbing Robot

摘要：

The ParkourBot is an ef.cient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During .ight, the robot stores elastic energy in its springy legs and automatically releases the energy to kick off the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

作者: Amir Degani Siyuan Feng H. Benjamin Brown Kevin M. Lynch Howie Choset Matthew T. Mason

作者单位: Robotics Institute,Carnegie Mellon University,5000 Forbes Avenue,Pittsburgh,PA 15213 USA Mechanical Engineering Department,Northwestern University,Evanston,IL 60208 USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 795-801

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）