Frictional step climbing analysis of tumbling locomotion

Brett Hemes; Nikolaos P Papanikolopoulos

doi:10.1109/ICRA.2012.6224644

Frictional step climbing analysis of tumbling locomotion

Brett Hemes, Nikolaos P Papanikolopoulos

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

Tumbling robots provide the potential to produce increased mobility on smaller scales with respect to their size and/or complexity. In this paper we explore the frictional interactions between a tumbling robot and the terrain while climbing a single vertical step to illustrate the advantages of tumbling. We present a set of parametric configuration equations that express the relationships between the robot's configuration parameters (morphology, geometry, mass, etc.), the environmental/task parameters (step geometry, available coefficients of friction, etc.), and the performance parameters (step height). The required body coefficient of friction is examined in detail for idealized tumbling and wheel-tail robots.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4142-4147
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224644
State	Published - Jan 1 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

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Hemes, B & Papanikolopoulos, NP 2012, Frictional step climbing analysis of tumbling locomotion. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224644, Institute of Electrical and Electronics Engineers Inc., pp. 4142-4147, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224644

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Frictional step climbing analysis of tumbling locomotion

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