URARAKA IV:带吸盘爬墙的多腿机器人——自动爬墙和从缺失吸附中恢复

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI:10.1109/ROBIO.2018.8665094

Makoto Okino, K. Nagayama, Kazuyuki Ito, T. Oomichi, S. Ashizawa, F. Matsuno

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引用次数: 1

摘要

在我们之前的作品中，我们专注于利用吸盘爬上未知垂直墙的机器人，我们利用其身体的被动性开发了自主多腿机器人。在本文中，我们通过增加自主再吸附程序来增强先前机器人的自主性。并进行了弯曲壁面和粗糙壁面的攀爬实验，验证了所研制机器人的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption-

In our previous works, we focused on a robot that climbs an unknown vertical wall by using suckers, and we developed an autonomous multi-legged robot by utilizing the passivity of its body. In this paper we enhance the autonomy of the previous robot by adding the procedure of an autonomous re-adsorption. Also experiments to climb a curved wall and a rough surface were also conducted, and the effectiveness of the developed robot was demonstrated.

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2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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