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Proceedings Paper

The RiSE climbing robot: body and leg design
Author(s): A. Saunders; D. I. Goldman; R. J. Full; M. Buehler
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Paper Abstract

The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE's body and leg design as well as its electromechanical, communications and computational infrastructure. We review design iterations that enable RiSE to climb 90° carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.

Paper Details

Date Published: 9 May 2006
PDF: 13 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 623017 (9 May 2006); doi: 10.1117/12.666150
Show Author Affiliations
A. Saunders, Boston Dynamics (United States)
D. I. Goldman, Univ. of California/Berkeley (United States)
R. J. Full, Univ. of California/Berkeley (United States)
M. Buehler, Boston Dynamics (United States)

Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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