A novel frame climbing robot: frambot
文献类型：会议论文
| 作者 | Chung wing kwong; Xu yangsheng |
| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 |
| 会议地点 | Karon Beach, Thailand. |
| 英文摘要 | In this paper, we present a novel frame climbing robot, called Frambot which aims to climb on non-enclosable rectangular trusses. Frambot weighs only 1.6kg and consists of two grippers connected by a body linkage. For the grippers of Frambot, it provides not only the grasp on a truss structure, but also allows a linear trussclimbing motion. Based on the mobility of Frambot, we propose new climbing gaits which aim to enhance the stability of truss climbing by reducing the extra angular moment generated during the swing motions in traditional truss climbing gaits. Both motion and dynamic torque simulations are performed for the analysis of the proposed gaits. Finally, the proposed gaits are realized in our robot prototype. Experimental results show that Frambot is capable in climbing non-enclosable trusses with the new climbing gaits. © 2011 IEEE.(13 refs) |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/3428]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2011 |
| 推荐引用方式 GB/T 7714 | Chung wing kwong,Xu yangsheng. A novel frame climbing robot: frambot[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. Karon Beach, Thailand.. |
入库方式： OAI收割
来源：深圳先进技术研究院
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