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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.

Keywords

Equilibrium Test Quadruped Robot Feasible Space Legged Robot Friction Cone 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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