DocumentCode
2631176
Title
Shady3D: A Robot that Climbs 3D Trusses
Author
Yoon, Yeoreum ; Rus, Daniela
Author_Institution
Comput. Sci. & Artificial Intelligence Lab, MIT, Cambridge, MA
fYear
2007
fDate
10-14 April 2007
Firstpage
4071
Lastpage
4076
Abstract
This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design and implementation of this robot, control algorithms for moving the robot in a 3D truss structure, and hardware experiments
Keywords
manipulators; mobile robots; motion control; supports; 3D truss climbing robot; Shady3D robot; control algorithm; mobile robot; robot design; Algorithm design and analysis; Climbing robots; Grippers; Hardware; Joining processes; Orbital robotics; Robot sensing systems; Robotics and automation; Service robots; Space stations;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364104
Filename
4209722
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