Modelisation and Simulation of Climbing Robots

نویسندگان

  • Auke Ijspeert
  • Carlo Menon
  • Simon Ruffieux
چکیده

This project is a part of a bigger project aiming to develop bio-inspired climbing robots for space exploration. My goal is to provide a tool to simulate the physics of those robots, design them and test their controllers. Therefore my project is divided into three main steps. The first step consists in developing a physical plugin for Webots in order to be able to simulate the bio-inspired adhesion mechanism that is developed in the research laboratory. The second step aims to create 3D models of two different robots in Webots. These models will reflect as accurately as possible the true mechanics of the ones developed in the Mechanical Engineering Laboratory of Dr. Carlo Menon at Simon Fraser University. The first robot will consists in a six-legged spider-like robot with 6 DOFs on each leg. The second one will consist in a simple four-legged gecko-like robot. The third step will study the walking mechanisms of the geckos and design a robust walking pattern using CPG’s with feedback for the gecko robot previously modeled. More precisely, the study will focus on the mechanism at the level of a legl; how to optimize the attachment of the leg through adhesion and the reflexes occurring at this level. This page has been left blank on purpose Table of

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تاریخ انتشار 2008