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Quadruped Ladder Climbing

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Country: Japan

Summary

A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder Without Handrail Support

Status: Research

Operation: Autonomous

Robot Type / Domain: Research

Tasks: Vertical Ladder Climbing, horizontal-vertical-horizontal transition

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The project introduces a novel quadruped robot with the capability of moving horizontally, vertically, and horizontally again on a ladder without handrail support. A multi-behavior generation model was developed, utilizing external (3D point clouds) and internal sensors (ground touch sensor and Inertial Measurement Unit) to generate suitable behaviors. The model's four behavior options - Approaching, Body Placing, Stepping, and Grasping - underwent validation through computer simulations and real robot applications. The crucial strategy for successful ladder traversal was identified as the body placing behavior.

 

Technical Specifications

Size: 500L  600W  300H (mm)

Size: 19.685L  23.622W  11.811H (in)

Reachable Height: N/A

Max. Payload: N/A

Weight: 7 kg

Weight: 15.432 lbs

Max. Climbing Speed: N/A

Max. Slope: 90°

Battery Operated? N/A

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Climbing Methods: Grippers

Climbable Surfaces: Ladder

Number of Axes: N/A

Manipulation: arm, gripper / hand

IP Rating: N/A

Operating Temperature: N/A

Max. Wind Speed Resistance: N/A

Open-source? N/A

Price: N/A

DoF: 23 degrees of freedom (DoF) in the proposed robot, 5 DoF in every leg, 2 DoF for Dual LRF sensor, and 1 DoF for the head

Sensors: Quad Time of Flight (ToF) sensor • touch sensors • inertial measurement unit (IMU)

Controller & Computing: NUC PC is used as the main controller which has Core i5 Intel processor and Arduino is used as the slave controller

Remote Control / Interface: user interface in the iPad for performing semi-autonomous control

No more specs to show.

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References

A. A. Saputra, Y. Toda, N. Takesue and N. Kubota, "A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder without Handrail Support," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 1448-1453, doi: 10.1109/IROS40897.2019.8968175.

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Average rating: 8.5 out of 10 Number of stars 4.3

Total ratings: 2

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 1 Comments

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arjunZard   1 year, 6 months ago
its a bit sloth-like but cool. Why are all these climbing robots with limbs seems so slow
0     0
ivywhisper   1 year, 5 months ago
Having a robot perform autonomous operation in such complex environmetn is computationally heavy - it needs to observe and 'understand' the enviornment, plan its motion, move its arms/legs properly, avoid obstacles, etc. Each of these tasks take time
0     0