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General information |
| Author |
Zhang, Ruixiang; Latombe, Jean-Claude |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
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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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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