Title :
The superior mobility and function of W-Climbot illustrated by experiments
Author :
Zhu, Haifei ; Guan, Yisheng ; Wu, Wenqiang ; Zhou, Xuefeng ; Zhang, Lianmeng ; Zhang, Xianmin ; Zhang, Hong
Author_Institution :
Biomimetic & Intell. Robot. Lab. (BIRL), South China Univ. of Technol., Guangzhou, China
Abstract :
W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the robot is actually a mobile 5-DoF arm with dual end-effectors at the two ends. With this kinematic structure and biped climbing mode, W-Climbot has superior wall-climbing function (e.g., great ability to omni-directional locomotion, to negotiate obstacles on the walls, and to transit between walls, etc) and potential manipulation function.
Keywords :
gait analysis; mobile robots; robot kinematics; ROBIO2011; W-climbot function; W-climbot superior mobility; bio-inspired modular biped wall-climbing robot; biped climbing mode; dual end-effectors; five joint modules; inchworm-like biped wall-climbing robot; kinematic structure; manipulation function potential; mobile 5-DoF arm; modular approach; omnidirectional locomotion; two suction modules; wall-climbing gaits; Biomimetics; Cleaning; Educational institutions; Joints; Kinematics; Mobile communication; Robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181664
