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Toward Autonomous Free-Climbing Robots

  • Conference paper
Robotics Research. The Eleventh International Symposium

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 15))

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Abstract

The goal of this research is to enable multi-limbed robots to climb vertical rock using techniques similar to those developed by human climbers. This paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It describes a fast planner based on an efficient test of the quasi-static equilibrium of these robots to compute one-step climbing moves. The planner is demonstrated in simulation for both robots.

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Authors and Affiliations

  1. Aerospace Robotics Lab, Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305, USA

    Tim Bretl & Stephen Rock

  2. Robotics Laboratory, Computer Science Department, Stanford University, Stanford, CA, 94305, USA

    Jean-Claude Latombe

Authors
  1. Tim Bretl
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  2. Jean-Claude Latombe
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  3. Stephen Rock
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Editor information

Editors and Affiliations

  1. CRIM & ARTS Labs, Polo Sant’Anna Valdera, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy

    Paolo Dario

  2. LAAS-CNRS, 7, avenue du Colonel Roche, 31077, Toulouse cedex 4, France

    Raja Chatila

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© 2005 Springer-Verlag Berlin Heidelberg

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Bretl, T., Latombe, JC., Rock, S. (2005). Toward Autonomous Free-Climbing Robots. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_2

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  • DOI: https://doi.org/10.1007/11008941_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23214-8

  • Online ISBN: 978-3-540-31508-7

  • eBook Packages: EngineeringEngineering (R0)

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