IROS 2018poster8 citations
Maneuverability in Dynamic Vertical Climbing
Jason M. Brown, Max P. Austin, Bharat Kanwar, Tyler E. Jonas, Jonathan E. Clark
Abstract
In this paper, we examine the reduced order pendular dynamic climbing model with the addition of attachment windows based on prescribed body roll. With this model and on the new dynamic climbing platform, TAILS, we demonstrate dynamic downward climbing as well as identify distinct dynamic gaits within downward climbing. This, combined with the application of an asymmetric configuration of the rear legs enables strafing motions and thus dynamic maneuverability on walls in the vertical domain.
BibTeX
@inproceedings{iros2018_maneuverabilityi,
title = {Maneuverability in Dynamic Vertical Climbing},
author = {Jason M. Brown and Max P. Austin and Bharat Kanwar and Tyler E. Jonas and Jonathan E. Clark},
booktitle = {IROS 2018},
year = {2018}
}