Navigating 3D steel web structures with an inchworm robot
نویسندگان
چکیده
We wish to navigate across complicated three-dimensional structures. We describe a robot that can propel itself on a web of surfaces oriented around arbitrary directions in three-space. This robot is an inchworm-like robot with a simple, modular, and exi-ble design. We present control algorithms for the task-level skills that allow the robot to walk vertically, horizontally , and inverted, and the algorithms that allow the robot to make transitions between surfaces. Finally , we discuss our experiments.
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