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Climbing Gaits of A Modular Biped Climbing Robot

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Yisheng Guan1, Li Jiang1, Xianmin Zhang1 and Hong Zhang ; 1

Biomimetic and Intelligent Robotics Lab (BIRL)
1School of Mechanical and Automotive Engineering
South China University of Technology
Guangzhou, Guangdong, China, 510640
fysguan, zhangxmg[at]scut.edu.cn



Centre for Intelligent Mining Systems (CIMS)
2Department of Computing Science
University of Alberta
Edmonton, AB, Canada, T6G 2H1

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abstraction
For high-rise work in fields such as agriculture, forestry and architecture, and inspired by the climbing motion of inchworms, chimpanzees, and sloths, we have developed a biped climbing robot – Climbot. Consisting of five 1-DOF joint modules in series and two special grippers at the ends, Climbot is capable of grasping objects and climbing poles, trees and trusses. In this paper, we first introduce this novel robot, and then present three climbing gaits. We perform simulation to illustrate, verify and compare the proposed climbing gaits.