Bio-inspired 2D Vertical Climbing with a Novel Tripedal Robot
Clyde Webster, Felix H. Kong, Robert Fitch
Abstract
Climbing robots have the potential to revolutionize the maintenance and inspection operations of many types of vertical structures. In nature, parrots exhibit a remarkable capacity for manipulation during climbing behaviors, for which robotics can benefit from studying. In this paper we present a novel tripedal robot that is inspired by the morphology of these impressive birds, which use their legs and beak in a tripedal fashion when climbing. We propose several foot placement, trajectory generation, and control methods for this system along with performance evaluation in simulation. A video of select simulations and live bird data is included in the supplementary material, and can also be found at https://youtu.be/vRVGralyQgQ.
BibTeX
@inproceedings{iros2022_bioinspired2dver,
title = {Bio-inspired 2D Vertical Climbing with a Novel Tripedal Robot},
author = {Clyde Webster and Felix H. Kong and Robert Fitch},
booktitle = {IROS 2022},
year = {2022}
}