Abstract:
Space environments, such as wall, ceiling and ladder, are important application field for legged robot. Therefore, a new five-legged robot prototype in the function bionics is developed to move in various environments. The motion plan to climb ladder is studied for the robot. According to the structure of the five-legged robot and the force distribution which is produced in the course of climbing ladder, the climbing-ladder motion is analyzed, a practical pentapodal climbing gait is proposed. The climbing motion on the ladders with equal or unequal interval poles is palnned and modeled with determining the motion conditions. The simulations and the experiments in the typical climbing environments are presented. The results confirm that the kinematics analysis and algorithm are correct and feasible.
Key words:
Legged robot Climbing Ladder Five-legged Gait
* This project is supported by National 863 Plan of China (No.2001AA
422330) and Mechanical Engineering School Foundation of Tsinghua University (No.091202002).
Selected from Proceedings of International Symposium of Advanced
Manufacturing Technology; revised manuscript August 18, 2002
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