DocumentCode
3028670
Title
Minimalistic, dynamic, tube climbing robot
Author
Degani, Amir ; Feng, Siyuan ; Choset, Howie ; Mason, Matthew T.
Author_Institution
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
2010
fDate
3-7 May 2010
Firstpage
1100
Lastpage
1101
Abstract
This video shows the investigation of a novel minimalistic, dynamic climbing robot which can climb up tubes of different shapes using a simple dc motor. The motor moves an eccentric mass in a constant velocity. The location of the eccentric mass relative to the contact point determines the stability and the direction of the climbing motion. We present the analysis of this mechanism, simulation and experimental results.
Keywords
DC motors; robot dynamics; climbing motion; dc motor; dynamic climbing robot; eccentric mass; minimalistic robot; stability; tube climbing robot; Anisotropic magnetoresistance; Climbing robots; DC motors; Friction; Robotics and automation; Stability; Structural rings; Torque; USA Councils; Videoconference;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509948
Filename
5509948
Link To Document