Short Pipes Climbing up a Vibrating Vertical Rod

Toward a Dynamic Vertical Climbing Robot

Simple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a recently proposed biologically-based template for dynamic vertical climbing, and evaluates the feasibility of adapting it to build a vertical ‘running’ robot. We present the resu...

A bioinspired dynamical vertical climbing robot

This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that pendulous climbing template dynamically r...

Young's Modulus and Internal Damping in a Vibrating Rod

Rod-climbing effect in Newtonian fluids.

When a rotating rod is brought into a polymer melt or concentrated polymer solution, the meniscus climbs the rod. This spectacular rod climbing is due to the normal stresses present in the polymer fluid and is thus a purely non-Newtonian effect. A similar rod climbing of an interface between two fluids has therefore been taken as a signature that one of the fluids exhibits normal stress effects...

Dynamic Vertical Climbing: Bioinspiration, Design, and Analysis

Biologists have proposed a pendulous climbing model, the Full-Goldman (F-G) template, that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. This thesis presents a progression of work related to dynamic vertical climbing based on that model. We begin by describing the inspiration, design, implementation of and experimentation wit...