Frictional step climbing analysis of tumbling locomotion

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Tumbling robots provide the potential to produce increased mobility on smaller scales with respect to their size and/or complexity. In this paper we explore the frictional interactions between a tumbling robot and the terrain while climbing a single vertical step to illustrate the advantages of tumbling. We present a set of parametric configuration equations that express the relationships between the robot's configuration parameters (morphology, geometry, mass, etc.), the environmental/task parameters (step geometry, available coefficients of friction, etc.), and the performance parameters (step height). The required body coefficient of friction is examined in detail for idealized tumbling and wheel-tail robots.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4142-4147
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

Fingerprint

Barreling
Robots
Friction
Geometry
Wheels

Cite this

Hemes, B., & Papanikolopoulos, N. P. (2012). Frictional step climbing analysis of tumbling locomotion. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4142-4147). [6224644] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224644

Frictional step climbing analysis of tumbling locomotion. / Hemes, Brett; Papanikolopoulos, Nikolaos P.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 4142-4147 6224644.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hemes, B & Papanikolopoulos, NP 2012, Frictional step climbing analysis of tumbling locomotion. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224644, Institute of Electrical and Electronics Engineers Inc., pp. 4142-4147, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224644
Hemes B, Papanikolopoulos NP. Frictional step climbing analysis of tumbling locomotion. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 4142-4147. 6224644 https://doi.org/10.1109/ICRA.2012.6224644
Hemes, Brett ; Papanikolopoulos, Nikolaos P. / Frictional step climbing analysis of tumbling locomotion. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 4142-4147
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