Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion： A Quasi-Static Investigation  

作　　者：Paolo Boscariol Michael A. Henrey Yasong Li Carlo Menon 

机构地区：[1]MENRVA Research Group, School of Engineering Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada

出　　处：《Journal of Bionic Engineering》2013年第1期1-11,共11页仿生工程学报（英文版）

摘　　要：Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the character- istics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimi- zation routine is used, and its output is a sequence of optimal posture and motor torque set-points.Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the character- istics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimi- zation routine is used, and its output is a sequence of optimal posture and motor torque set-points.

关 键 词：climbing robot dry adhesive gait planning legged robots PRELOADING 

分 类 号：TQ633[化学工程—精细化工] TP242[自动化与计算机技术—检测技术与自动化装置]