Toward Autonomous Free-Climbing Robots

  • Tim Bretl
  • Jean-Claude Latombe
  • Stephen Rock
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 15)

Abstract

The goal of this research is to enable multi-limbed robots to climb vertical rock using techniques similar to those developed by human climbers. This paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It describes a fast planner based on an efficient test of the quasi-static equilibrium of these robots to compute one-step climbing moves. The planner is demonstrated in simulation for both robots.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Tim Bretl
    • 1
  • Jean-Claude Latombe
    • 2
  • Stephen Rock
    • 1
  1. 1.Aerospace Robotics Lab, Department of Aeronautics and AstronauticsStanford UniversityStanfordUSA
  2. 2.Robotics Laboratory, Computer Science DepartmentStanford UniversityStanfordUSA

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