Analysis of gait control of wall-climbing caterpillar robot

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

doi:10.1109/ROBIO.2009.5420548

Analysis of gait control of wall-climbing caterpillar robot

D. Z. Li
, X. Y. Ma
, K. Wang
, W. Wang^*
, H. X. Zhang
, G. H. Zong

^*Corresponding author for this work

Beihang University
University of Hamburg

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	1929-1934
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420548
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

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10.1109/ROBIO.2009.5420548

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Li, D. Z., Ma, X. Y., Wang, K., Wang, W., Zhang, H. X., & Zong, G. H. (2009). Analysis of gait control of wall-climbing caterpillar robot. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 1929-1934). Article 5420548 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420548

@inproceedings{f72d33831307443d9eecf4d9187f3ec2,

title = "Analysis of gait control of wall-climbing caterpillar robot",

abstract = "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.",

author = "Li, \{D. Z.\} and Ma, \{X. Y.\} and K. Wang and W. Wang and Zhang, \{H. X.\} and Zong, \{G. H.\}",

year = "2009",

doi = "10.1109/ROBIO.2009.5420548",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "1929--1934",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Li, DZ, Ma, XY, Wang, K , Wang, W, Zhang, HX & Zong, GH 2009, Analysis of gait control of wall-climbing caterpillar robot. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420548, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1929-1934, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420548

Analysis of gait control of wall-climbing caterpillar robot. / Li, D. Z.; Ma, X. Y.; Wang, K. et al.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1929-1934 5420548 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Analysis of gait control of wall-climbing caterpillar robot

AU - Li, D. Z.

AU - Ma, X. Y.

AU - Wang, K.

AU - Wang, W.

AU - Zhang, H. X.

AU - Zong, G. H.

PY - 2009

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N2 - 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.

AB - 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.

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SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

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EP - 1934

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

Analysis of gait control of wall-climbing caterpillar robot

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