Morphable limbs for multi-legged climbing on convex structures

Michael D.M. Kutzer, Edward W. Tunstel, Christopher Y. Brown, Danoosh Vahdat, Jonathan E. Clark, Noah J. Cowan, Mehran Armand

Research output: Contribution to journalArticlepeer-review

Abstract

Wepresent a biologically inspired morphable mechanism for a small multi-legged robot and characterize the mechanism for statically stable climbing up convex/ cylindrical structures. The design includes an analysis of the robot's static stability while climbing such structures. Preliminary experimental results highlight the merits and limitations of the overall approach.

Original languageEnglish (US)
Pages (from-to)613-618
Number of pages6
JournalJohns Hopkins APL Technical Digest (Applied Physics Laboratory)
Volume32
Issue number3
StatePublished - Dec 1 2013
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)
  • Physics and Astronomy(all)

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