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ABSTRACT: Mini-Whegstrade, a power-autonomous vehicle that uses multi-spoke wheel-legs for locomotion, is able to climb vertical glass surfaces with several different wheel-leg designs. Adhesion to the glass is achieved using pressure sensitive adhesives. In this paper, high-speed video is used to compare the performance and contact area during steps of five passive foot designs. The contact area, when normalized by the leg length, may help explain the differences in performance between several designs.
Robotics and Automation, 2007 IEEE International Conference on; 05/2007
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ABSTRACT: MechaRoach II is a hexapod robot under development that can walk on horizontal surfaces, climb on inclined or vertical mesh surfaces, and test strategies for transitioning between the two. The locomotion principles that allow cockroaches to make these transitions have been studied and mechanisms using abstractions of those principles have been developed for the robot. These principles include usage of features of leg and foot morphology, leg compliance, gait adaptation, and body flexion. MechaRoach II has a single drive motor, a motor for steering, and a motor to actuate a body flexion joint. The single drive motor powers all six legs, and each leg uses 4-bar mechanisms to recreate cockroach-like foot trajectories. Cockroaches have been shown to flex their bodies downward between the first and second thoracic segments or rear their bodies upward using their middle legs during transitions between climbing on vertical surfaces and walking on horizontal ones. Similarly, MechaRoach II's body joint rears the front of the robot upward or downward during transitioning. The robot normally walks in a tripod gait with contralateral legs 180 degrees out of phase, but uses passive torsionally compliant devices to bring contralateral legs into phase for climbing
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on; 08/2005
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ABSTRACT: MechaRoach II is a hexapod robot under development that will walk on horizontal surfaces, climb on inclined or vertical mesh
surfaces, and test strategies for transitioning between the two. The locomotion principles that allow cockroaches to make
these transitions have been studied and mechanisms using abstractions of those principles have been developed for the robot.
These principles include leg and foot morphology, gait adaptation, and body flexion. MechaRoach II will have a single drive
motor, a motor for steering, and a motor to actuate a body flexion joint. The single drive motor will power all six legs,
and each leg will use 4-bar mechanisms to recreate cockroach-like foot trajectories. Cockroaches have been shown to flex their
bodies downward between the first and second thoracic segments or rear their bodies upward using their middle legs during
transitions between climbing on vertical surfaces and walking on horizontal ones. Similarly, MechaRoach II’s body joint will
be used to rear the front of the robot upward or downward during transitioning. The robot will normally walk in a tripod gait
with contralateral legs 180 degrees out of phase, but will use passive torsionally compliant devices to bring contralateral
legs into phase for climbing.
12/2004: pages 849-857;
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ABSTRACT: The monopod hopper described fits into a cube that is 5 cm on a
side, is autonomous, and is designed to be statically stable and
passively dynamically stable. Hopping is achieved through the excitation
of a spring-mass system at its resonant frequency. Simulations were
extensively used to finalize the design, before construction of the
robot. The hopper, although having no active directional control, is
able to climb steps up to 1 mm, travel at a rate of 1.5 body lengths per
second for an average of over 225 cm before deviating significantly from
its original course, and can operate up to 45 min before depleting the
energy stored in the batteries
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on; 02/2000
