Climbing up motion of the multi-locomotion robot (MLR) on vertical ladder with different gaits Online publication date: Thu, 26-Mar-2015
by Zhiguo Lu; Kosuke Sekiyama; Yasuhisa Hasegawa; Tadayoshi Aoyama; Hironari Yoneda; Toshio Fukuda
International Journal of Mechatronics and Automation (IJMA), Vol. 1, No. 3/4, 2011
Abstract: Ladders are one of the oldest and most common tools used by human to reach a higher point. This paper describes climbing up motions on vertical ladder for a multi-locomotion robot (MLR). As potential applications, the robot with ladder climbing is expected to go to humanly inaccessible areas, taking risks to conduct searching and rescue operations instead of human. Two kinds of climbing up gaits are proposed. The posture of torso is maintained using at least three limbs in a transverse gait. The robot moves up the two limbs on the same side together in a pace gait. As a result, the travelling speed in this pace gait is higher than that in the transverse gait. The control algorithm with body motion control and error recovery is experimentally verified using the MLR which has been developed to achieve various forms of locomotion including biped walking, quadruped walking and brachiation.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook