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Proceedings Paper

Robotics in scansorial environments
Author(s): Kellar Autumn; Martin Buehler; Mark Cutkosky; Ronald Fearing; Robert J. Full; Daniel Goldman; Richard Groff; William Provancher; Alfred A. Rizzi; Uluc Saranli; Aaron Saunders; Daniel E. Koditschek
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Paper Abstract

We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

Paper Details

Date Published: 27 May 2005
PDF: 12 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.606157
Show Author Affiliations
Kellar Autumn, Lewis & Clark College (United States)
Martin Buehler, Boston Dynamics (United States)
Mark Cutkosky, Stanford Univ. (United States)
Ronald Fearing, Univ. of California/Berkeley (United States)
Robert J. Full, Univ. of California/Berkeley (United States)
Daniel Goldman, Univ. of California/Berkeley (United States)
Richard Groff, Univ. of California/Berkeley (United States)
William Provancher, Stanford Univ. (United States)
Alfred A. Rizzi, Carnegie Mellon Univ. (United States)
Uluc Saranli, Carnegie Mellon Univ. (United States)
Aaron Saunders, Boston Dynamics (United States)
Daniel E. Koditschek, Univ. of Pennsylvania (United States)


Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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