A Minimalist Dynamic Climbing Robot: Modeling, Analysis and Experiments

摘要

Dynamics in locomotion is highly useful, as can be seen in animals and gradually in robots. For instance, chimpanzees are dynamic climbers that can reach virtually any part of a tree and even move to neighboring trees, while sloths are quasistatic climbers confined only to a few branches. Although dynamic maneuvers are undoubtedly beneficial, only a few engineered systems use them. This is because the design and control are often extremely complicated. Moreover, these dynamic robots mostly locomote horizontally. This work extends dynamic robotic legged locomotion from horizontal motions such as walking, hopping, and running, to vertical motions such as leaping maneuvers. The proposed mechanism, called DSAC for Dynamic, Single Actuated Climber, resembles the motion of an athlete jumping and climbing inside a chute. Whereas this environment is an unnavigable obstacle for a slow, quasistatic climber, it is an invaluable source of reaction forces for a dynamic climber. The mechanism proposed here will try to achieve dynamic, vertical motion while retaining simplicity