Biologically inspired climbing with a hexapedal robot

TLDR

RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces—including brick, stucco, and crushed stone—at speeds up to 4 cm/s, quietly and without suction, magnets, or adhesives. The paper presents an integrated, systems‑level view of novel design and control features for the biologically inspired hexapedal RiSE robot. It achieves these capabilities through a combination of bioinspired and traditional design methods, addressing body morphology, hierarchical leg and foot compliance, and sensing and control systems. Experimental results show that different behaviors affect climbing performance and demonstrate the robot’s ability to climb reliably over long distances. © 2008 Wiley Periodicals, Inc.

Abstract

Abstract This paper presents an integrated, systems‐level view of several novel design and control features associated with the biologically inspired, hexapedal, RiSE (Robots in Scansorial Environments) robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed stone at speeds up to 4 cm/s, quietly and without the use of suction, magnets, or adhesives. It achieves these capabilities through a combination of bioinspired and traditional design methods. This paper describes the design process and specifically addresses body morphology, hierarchical compliance in the legs and feet, and sensing and control systems that enable robust and reliable climbing on difficult surfaces. Experimental results illustrate the effects of various behaviors on climbing performance and demonstrate the robot's ability to climb reliably for long distances. © 2008 Wiley Periodicals, Inc.