Title:
Design of a Bio-inspired Dynamical Vertical Climbing Robot

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Clark, Jonathan E.
Goldman, Daniel I.
Lin, Pei-Chun
Lynch, Goran
Chen, Tao S.
Komsuoglu, Haldun
Full, Robert J.
Koditschek, Daniel E.
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Abstract
This paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents emperical data from a physical prototype as evidence of the feasibility of adapting the dynamics of the template to robot that runs vertically upward. The recently proposed pendulous climbing model abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. The present paper’s first contribution summarizes a numerical study of this model to hypothesize that these animals’ apparently wasteful commitments to lateral oscillations may be justified by a significant gain in the dynamical stability and, hence, the robustness of their resulting climbing capability. The paper’s second contribution documents the design and offers preliminary empirical data arising from a physical instantiation of this model. Notwithstanding the substantial differences between the proposed bio-inspired template and this physical manifestation, initial data suggest the mechanical climber may be capable of reproducing both the motions and ground reaction forces characteristic of dynamical climbing animals. Even without proper tuning, the robot’s steady state trajectories manifest a substantial exchange of kinetic and potential energy, resulting in vertical speeds of 0.30 m/s (0.75 bl/s) and claiming its place as the first bio-inspired dynamical legged climbing platform.
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2008
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