This paper presents two biped designs for miniature climbing robots. The designs use under-actuation to satisfy space and weight constraints. In the first design, one actuator provides steering and another two propel the robot in a cartwheel style gait. The cartwheel gait is quite effective but space required for the maneuver precludes certain applications. The limitation is overcome in the second design, which uses under-actuation to provide two different forms of locomotion. It uses a crawling stride in confined environments and a faster pivoting gait in open environments. Such adaptability is achieved without increasing the number of actuators. Both robots have been built and have successfully demonstrated their mobility and maneuverability.
Under-Actuated Kinematic Structures for Miniature Climbing Robots
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received August 2001; revised September 2002. Associate Editor: G. S. Chirikjian.
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Minor, M. A., and Mukherjee, R. (June 11, 2003). "Under-Actuated Kinematic Structures for Miniature Climbing Robots ." ASME. J. Mech. Des. June 2003; 125(2): 281–291. https://doi.org/10.1115/1.1564075
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