2006 | OriginalPaper | Buchkapitel
A Spring Assisted One Degree of Freedom Climbing Model
verfasst von : J.E. Clark, D.E. Koditschek
Erschienen in: Fast Motions in Biomechanics and Robotics
Verlag: Springer Berlin Heidelberg
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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.