The RiSE climbing robot: body and leg design

A. Saunders; D. I. Goldman; R. J. Full; M. Buehler

doi:10.1117/12.666150

9 May 2006 The RiSE climbing robot: body and leg design

A. Saunders, D. I. Goldman, R. J. Full, M. Buehler

Proceedings Volume 6230, Unmanned Systems Technology VIII; 623017 (2006) https://doi.org/10.1117/12.666150
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE's body and leg design as well as its electromechanical, communications and computational infrastructure. We review design iterations that enable RiSE to climb 90° carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.

Citation Download Citation

A. Saunders, D. I. Goldman, R. J. Full, and M. Buehler "The RiSE climbing robot: body and leg design", Proc. SPIE 6230, Unmanned Systems Technology VIII, 623017 (9 May 2006); https://doi.org/10.1117/12.666150

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