0
Technical Brief

A Model-Based Two-Arm Robot With Dynamic Vertical and Lateral Climbing Behaviors

[+] Author and Article Information
Wei-Hung Ko

Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: b99502083@ntu.edu.tw

Wei-Hsuan Chiang

Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: b99502085@ntu.edu.tw

Ya-Han Hsu

Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: b99502115@ntu.edu.tw

Ming-Yuan Yu

Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: b98502039@ntu.edu.tw

Hung-Sheng Lin

Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: r02522813@ntu.edu.tw

Pei-Chun Lin

Mem. ASME
Department of Mechanical Engineering,
National Taiwan University,
Taipei 106, Taiwan
e-mail: peichunlin@ntu.edu.tw

1W.-H. Ko and W.-H. Chiang contributed equally to this work.

2Corresponding author.

Manuscript received April 15, 2015; final manuscript received February 5, 2016; published online March 10, 2016. Assoc. Editor: Xilun Ding.

J. Mechanisms Robotics 8(4), 044503 (Mar 10, 2016) (9 pages) Paper No: JMR-15-1092; doi: 10.1115/1.4032777 History: Received April 15, 2015; Revised February 05, 2016

We report on the model-based development of a climbing robot that is capable of performing dynamic vertical and lateral climbing motions. The robot was designed based on the two-arm vertical-climbing model inspired by the dynamic climbing motion of cockroaches and geckos, with the extension of introducing the arm sprawl motion to initiate the lateral climbing motion. The quantitative formulation of the model was derived based on Lagrangian mechanics, and the numerical analysis of the model was conducted. The robot was then built and controlled based on the analysis results of the model. The robot can perform the behaviors predicted by the model in which the climbing speed decreases when the swing magnitude increases, and the lateral climbing motion can be initiated when the arm sprawl motion is introduced. The experimental validation of the robot confirms that though the reduced-order two-arm model is abstract and ignored various empirical details, the model is sufficient to predict the robot behavior. This conclusion further suggests that the behavior development of the robot can indeed be explored and evaluated by using the simple climbing model in the simulation environment in place of extensive trial-and-error on the physical robot.

FIGURES IN THIS ARTICLE
<>
Copyright © 2016 by ASME
Topics: Robots
Your Session has timed out. Please sign back in to continue.

References

Luk, B. L. , Cooke, D. S. , Galt, S. , Collie, A. A. , and Chen, S. , 2005, “ Intelligent Legged Climbing Service Robot for Remote Maintenance Applications in Hazardous Environments,” Rob. Auton. Syst., 53(2), pp. 142–152. [CrossRef]
Wei, T. E. , Quinn, R. D. , and Ritzmann, R. E. , 2005, “ A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles,” Climbing and Walking Robots, Springer, Berlin, pp. 849–857.
Krosuri, S. P. , and Minor, M. A. , 2005, “ Design, Modeling, Control, and Evaluation of a Hybrid Hip Joint Miniature Climbing Robot,” Int. J. Rob. Res., 24(12), pp. 1033–1053. [CrossRef]
Nabulsi, S. , Montes, H. , and Armada, M. , “ Roboclimber: Control System Architecture,” Climbing and Walking Robots, Springer, Berlin, pp. 943–952.
Bretl, T. , 2006, “ Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem,” Int. J. Rob. Res., 25(4), pp. 317–342. [CrossRef]
Kim, S. , Spenko, M. , Trujillo, S. , Heyneman, B. , Santos, D. , and Cutkosky, M. R. , 2008, “ Smooth Vertical Surface Climbing With Directional Adhesion,” IEEE Trans. Rob., 24(1), pp. 65–74. [CrossRef]
Spenko, M. , Haynes, G. C. , Saunders, J. , Cutkosky, M. R. , Rizzi, A. A. , Full, R. J. , and Koditschek, D. E. , 2008, “ Biologically Inspired Climbing With a Hexapedal Robot,” J. Field Rob., 25(4–5), pp. 223–242. [CrossRef]
Provancher, W. R. , Jensen-Segal, S. I. , and Fehlberg, M. A. , 2011, “ ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot,” IEEE/ASME Trans. Mechatron., 16(5), pp. 897–906. [CrossRef]
Lynch, G. A. , Clark, J. E. , Lin, P. C. , and Koditschek, D. E. , 2012, “ A Bioinspired Dynamical Vertical Climbing Robot,” Int. J. Rob. Res., 31(8), pp. 974–996. [CrossRef]
Dickson, J. , and Clark, J. E. , 2012, “ The Effect of Sprawl Angle and Wall Inclination on a Bipedal Dynamic Climbing Platform,” International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Baltimore, MD, July 23-26.
Guan, Y. S. , Zhu, H. F. , Wu, W. Q. , Zhou, X. F. , Jiang, L. , Cai, C. W. , Zhang, L. M. , and Zhang, H. , 2013, “ A Modular Biped Wall-Climbing Robot With High Mobility and Manipulating Function,” IEEE/ASME Trans. Mechatron., 18(6), pp. 1787–1798. [CrossRef]
Osswald, M. , and Iida, F. , 2013, “ Design and Control of a Climbing Robot Based on Hot Melt Adhesion,” Rob. Auton. Syst., 61(6), pp. 616–625. [CrossRef]
Degani, A. , Long, A. W. , Feng, S. Y. , Brown, H. B. , Gregg, R. D. , Choset, H. , Mason, M. T. , and Lynch, K. M. , 2014, “ Design and Open-Loop Control of the ParkourBot: A Dynamic Climbing Robot,” IEEE Trans. Rob., 30(3), pp. 705–718. [CrossRef]
He, B. , Wang, Z. P. , Li, M. H. , Wang, K. , Shen, R. J. , and Hu, S. Q. , 2014, “ Wet Adhesion Inspired Bionic Climbing Robot,” IEEE/ASME Trans. Mechatron., 19(1), pp. 312–320. [CrossRef]
Murphy, M. P. , Tso, W. , Tanzini, M. , and Sitti, M. , “ Waalbot: An Agile Small-Scale Wall Climbing Robot Utilizing Pressure Sensitive Adhesives,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, Oct. 9-15, pp. 3411–3416.
Koo, I . M. , Trong, T. D. , Lee, Y. H. , Moon, H. , Koo, J. , Park, S. K. , and Choi, H. R. , 2013, “ Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism,” J. Intell. Rob. Syst., 72(1), pp. 57–72. [CrossRef]
Tavakoli, M. , Viegas, C. , Marques, L. , Pires, J. N. , and de Almeida, A. T. , 2013, “ OmniClimbers: Omni-Directional Magnetic Wheeled Climbing Robots for Inspection of Ferromagnetic Structures,” Rob. Auton. Syst., 61(9), pp. 997–1007. [CrossRef]
Greuter, M. , Shah, G. , Caprari, G. , Tâche, F. , Siegwart, R. , and Sitti, M. , “ Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives,” 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005), Fukui, Japan, Sept. 20-22, Springer, Berlin, pp. 39–46.
Kim, H. , Kim, D. , Yang, H. , Lee, K. , Seo, K. , Chang, D. , and Kim, J. , 2008, “ Development of a Wall-Climbing Robot Using a Tracked Wheel Mechanism,” J. Mech. Sci. Technol., 22(8), pp. 1490–1498. [CrossRef]
Wang, H. Q. , Yamamoto, A. , and Higuchi, T. , 2014, “ A Crawler Climbing Robot Integrating Electroadhesion and Electrostatic Actuation,” Int. J. Adv. Rob. Syst., 11, p. 191.
Nam, S. , Oh, J. , Lee, G. , Kim, J. , and Seo, T. , 2014, “ Dynamic Analysis During Internal Transition of a Compliant Multi-Body Climbing Robot With Magnetic Adhesion,” J. Mech. Sci. Technol., 28(12), pp. 5175–5187. [CrossRef]
Zhang, H. , Gonzalez-Gomez, J. , Chen, S. , Wang, W. , Liu, R. , Li, D. , and Zhang, J. , “ A Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Zurich, Switzerland, Sept. 4-7.
Autumn, K. , Hsieh, S. , Dudek, D. , Chen, J. , Chitaphan, C. , and Full, R. , 2006, “ Dynamics of Geckos Running Vertically,” J. Exp. Biol., 209(2), pp. 260–272. [CrossRef] [PubMed]
Goldman, D. I. , Chen, T. S. , Dudek, D. M. , and Full, R. J. , 2006, “ Dynamics of Rapid Vertical Climbing in Cockroaches Reveals a Template,” J. Exp. Biol., 209(15), pp. 2990–3000. [CrossRef] [PubMed]
Lynch, G. A. , Rome, L. , and Koditschek, D. E. , 2011, “ Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches,” Appl. Bionics Biomech., 8(3), pp. 441–452. [CrossRef]
Ko, W. H. , Chiang, W. H. , Hsu, Y. H. , Fang, I. L. , Lin, H. S. , Yu, M. Y. , and Lin, P. C. , 2014, “ A Dynamic Vertical Climbing Robot,” International Conference on Advanced Robotics and Intelligent Systems (ARIS), Taipei, Taiwan, June 6-8, p. 248.
Yu, M. Y. , Lin, H. S. , Ko, W. H. , Chiang, W. H. , Fang, I. L. , Hsu, Y. H. , and Lin, P. C. , 2014, “ Analysis of a Dynamic Climbing Two-Arm Model,” International Conference on Advanced Robotics and Intelligent Systems (ARIS), Taipei, Taiwan, June 6–8, p. 250.

Figures

Grahic Jump Location
Fig. 1

The sketch and notations of the two-arm model (a) and the physical robot (b)

Grahic Jump Location
Fig. 2

The motion sequence of the model in vertical climbing (a) and lateral climbing (b) simulated using MATLAB®

Grahic Jump Location
Fig. 3

The climbing speed (v) of the model versus the resultant Coulomb friction force (F) and the damping coefficient (C)shown in a 3D view in (a), a side view in (b), and a front view in (c)

Grahic Jump Location
Fig. 4

The dynamic behavior of the model with different body orientations

Grahic Jump Location
Fig. 5

The COM velocity of the model with different resistant forces (F&C), periods (tp), swing amplitudes (Am), and offset angles (Om)

Grahic Jump Location
Fig. 6

The detailed CAD drawings of the robot arm (a) and the claw (c), and (b) the CAD drawing of the passive claw utilized in Ref. [9]

Grahic Jump Location
Fig. 7

The photo of the robot

Grahic Jump Location
Fig. 8

The COM trajectories of the two-arm model (a) and the robot (b) with three different offset angles (Om)

Grahic Jump Location
Fig. 9

The COM trajectories of the two-arm model (a) and the robot (b) with three different actuation periods (tp)

Grahic Jump Location
Fig. 10

The COM trajectories of the two-arm model (a) and the robot (b) with three different combinations of the offset angles (Om) and the swing amplitudes (Am)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In