Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration

Warley F.R. Ribeiro, Kentaro Uno, Kazuya Yoshida, Kenji Nagaoka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Climbing robots have a high capability to explore hazardous environments, including disaster sites and extraterrestrial bodies under low-gravity. Equilibrium evaluation is necessary to plan safe locomotion for a robot, but most methods consider either only static conditions or complex friction theory. Since dynamic consideration is necessary for evaluation in low-gravity and defining friction characteristics for grippers with several contact points is challenging, we propose an equilibrium evaluation based on gravito-inertial acceleration (GIA) and stability polyhedron. We combine both static and dynamics from gravity and inertial acceleration into one single vector and calculate stability polyhedron from tumble stability theory by including the maximum holding force of a gripper. Simulations and experiments validate the method efficacy.

Original languageEnglish
Title of host publicationRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
EditorsValery G. Gradetsky, Nikolay N. Bolotnik, Mohammad Osman Tokhi, Manuel Silva, Gurvinder S. Virk
PublisherCLAWAR Association Ltd
Pages297-304
Number of pages8
ISBN (Print)9781916449046
DOIs
Publication statusPublished - 2020
Event23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020 - Moscow, Russian Federation
Duration: 2020 Aug 242020 Aug 26

Publication series

NameRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

Conference

Conference23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
CountryRussian Federation
CityMoscow
Period20/8/2420/8/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration'. Together they form a unique fingerprint.

Cite this