A Knitro-based real-time locomotion method for imitating the caterpillar-like climbing strategy

Link:
Autor/in:
Erscheinungsjahr:
2014
Medientyp:
Text
Schlagworte:
  • Adhesion
  • Adhesives
  • Climbing robots
  • Robots
  • Robotics
  • Manipulators
  • Adhesion
  • Adhesives
  • Climbing robots
  • Robots
  • Robotics
  • Manipulators
Beschreibung:
  • This paper presents a novel locomotion method to imitate the caterpillar-like climbing strategy. Caterpillar-like climbing is in fact slow, but a caterpillar's multi-segmented body trunk enhances the climbing versatility and dexterity, which motivates us to develop a caterpillar-like climbing method. In this paper, we introduce the characteristics of the climbing locomotion observed on natural caterpillars first, and then propose a three-stage climbing method to imitate the caterpillar-like climbing patterns. An energy efficient strategy is then formulated, aiming for the minimization of robot joint energy expenditure over a locomotion period. For real-time implementation and singularity avoidance within the energy efficient framework, we incorporate the Knitro method to search for kinematical optimal solutions over a period of time. Successful simulation and experimental results show the effectiveness of the proposed caterpillar-like climbing locomotion strategy. © 2014 IEEE.
Lizenz:
  • info:eu-repo/semantics/restrictedAccess
Quellsystem:
Forschungsinformationssystem der UHH
Interne Metadaten
Quelldatensatz
oai:www.edit.fis.uni-hamburg.de:publications/ea74bd94-4ebc-48b3-a926-d12d4da2d47b