The DOI matches its Crossref record; 26 of the 26 references it cites were found in a registry or an index.
Biologically inspired climbing with a hexapedal robot
Abstract
This paper presents an integrated, systems‐level view of several novel design and control features associated with the biologically inspired, hexapedal, RiSE (Robots in Scansorial Environments) robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed stone at speeds up to 4 cm/s, quietly and without the use of suction, magnets, or adhesives. It achieves these capabilities through a combination of bioinspired and traditional design methods. This paper describes the design process and specifically addresses body morphology, hierarchical compliance in the legs and feet, and sensing and control systems that enable robust and reliable climbing on difficult surfaces. Experimental results illustrate the effects of various behaviors on climbing performance and demonstrate the robot's ability to climb reliably for long distances. © 2008 Wiley Periodicals, Inc.
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Cites
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Frictional adhesion: a new angle on gecko attachment
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Self-citationWhat mechanisms coordinate leg movement in walking arthropods?
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Self-citationDynamics of geckos running vertically
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Self-citationScaling Hard Vertical Surfaces with Compliant Microspine Arrays
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Self-citationFast and Robust: Hexapedal Robots via Shape Deposition Manufacturing
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Self-citationModeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot
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Metadata
- Authors
- Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A., Full, R. J., & Koditschek, D. E.
- Venue
- Journal of Field Robotics
- Publisher
- Wiley
- Published
- 2008-04
- Volume
- 25
- Issue
- 4-5
- Pages
- 223-242
- ISSN
- 1556-4959 (ISSN-L)
- 1556-4967
- OpenAlex
- W4235469158
- Cited by
- 426
- References
- 26
- FWCI
- 15.35
- Type
- journal article
- Language
- en
- Open access
- closed
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- Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A., Full, R. J., & Koditschek, D. E. (2008). Biologically inspired climbing with a hexapedal robot. Journal of Field Robotics. https://doi.org/10.1002/rob.20238
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
