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

fYear

2011

Firstpage

2415

Lastpage

2416

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181664

Filename

6181664