The RiSE climbing robot: body and leg design

A. Saunders, D. I. Goldman, R. J. Full, M. Buehler, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2006 Unmanned Systems Technology VIII  
The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE's body and leg design as well as its electromechanical, communications and computational infrastructure. We review
more » ... esign iterations that enable RiSE to climb 90 o carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.
doi:10.1117/12.666150 fatcat:z5qgm6evqngejow62u4qmeevjq