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Capuchin: A Free-Climbing Robot : Capuchin: Un robot scalatore, in: International Journal of Advanced Robotic Systems

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Autor Zhang, Ruixiang; Latombe, Jean-Claude
Erschienen  InTech Open Access Publisher, 2013
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Kurzbeschreibung This paper describes an integrated quasiautonomous
four‐limbed robot, named Capuchin, which
is equipped with appropriate sensing, planning and
control capabilities to “free‐climb” vertical terrain. Unlike
aid climbing that takes advantage of special tools and/or
engineered terrain features, free climbing only relies on
friction at the contacts between the climber and the rigid
terrain. While moving, Capuchin adjusts its body posture
(hence, the position of its centre of mass) and exerts
appropriate forces at the contacts in order to remain in
equilibrium. Vision is used to achieve precise contacts
and force sensing to control contact forces. The robot’s
planner is based on a pre‐existing two‐stage “stancebefore‐
motion” approach. Its controller applies a novel
“lazy” force control strategy that performs force
adjustments only when these are needed. Experiments
demonstrate that Capuchin can reliably climb vertical
terrain with irregular features.
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ab 2000
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
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Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31067009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31067009.html
PDF FaviconPDF  Capuchin: A Free-Climbing Robot
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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