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Proceedings Paper

Climbing robot actuated by meso-hydraulic artificial muscles
Author(s): Matthew Bryant; Jason Fitzgerald; Samuel Miller; Jonah Saltzman; Sangkyu Kim; Yong Lin; Ephrahim Garcia
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Paper Abstract

This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

Paper Details

Date Published: 9 March 2014
PDF: 12 pages
Proc. SPIE 9057, Active and Passive Smart Structures and Integrated Systems 2014, 90570H (9 March 2014); doi: 10.1117/12.2046368
Show Author Affiliations
Matthew Bryant, North Carolina State Univ. (United States)
Jason Fitzgerald, Cornell Univ. (United States)
Samuel Miller, Cornell Univ. (United States)
Jonah Saltzman, Cornell Univ. (United States)
Sangkyu Kim, Cornell Univ. (United States)
Yong Lin, Cornell Univ. (United States)
Ephrahim Garcia, Cornell Univ. (United States)


Published in SPIE Proceedings Vol. 9057:
Active and Passive Smart Structures and Integrated Systems 2014
Wei-Hsin Liao, Editor(s)

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