Abstract
A dynamic model of running-the spring-loaded inverted pendulum (SLIP)-has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operation. This paper introduces a one degree of freedom model of a climbing robot used to investigate the power constraints involved with climbing in a dynamic manner. Particular attention is paid to understanding how springs and body dynamics can be exploited to help relieve a limited power/weight ratio and achieve dynamic running and climbing.
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© 2006 Springer
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Clark, J., Koditschek, D. (2006). A Spring Assisted One Degree of Freedom Climbing Model. In: Diehl, M., Mombaur, K. (eds) Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol 340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36119-0_3
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DOI: https://doi.org/10.1007/978-3-540-36119-0_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36118-3
Online ISBN: 978-3-540-36119-0
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