Research on Bionic Climbing Robot Based on Gait Analysis

Authors

  • Jiayi Li

DOI:

https://doi.org/10.62051/8z2y6j26

Keywords:

gait analysis; bionic; climbing; robotics.

Abstract

In order to replace humans performing hazardous tasks in complex high-altitude environments, we have designed a two-armed modular bionic robot with clawing, climbing and mobility capabilities for high-altitude tasks in agriculture, forestry and construction. In this paper, a five-degree-of-freedom climbing modular robot with the ability to maneuver between poles in space is presented and analyzed. Three types of climbing gaits is designed and compared in the ADAMS simulation environment based on the torques required by the main joints and the energy consumed by the robot to climb the poles in different directions. The simulation results are the basis for planning the gait of the robot during climbing.

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References

Jiang Shuhai,Sun Pei,Tang Jingjing,et al. Structural design and gait analysis of bionic beetle hexapod robot[J]. Journal of Nanjing Forestry University:Natural Science Edition, 2012, 36(6):6.DOI:10.3969/j.issn.1000-2006.2012.06.023.

Shuangyu Zhao. Analysis of gait control and switching strategy of quadruped bionic robot [D]. University of Electronic Science and Technology [2023-07-27].DOI:10.7666/d.D499818.

Sui Xiang,Zhou Ruiji,Xu Linsen,et al. Research on gait planning of ship cabin inspection robot based on Hopf oscillator[J]. Machine Tools and Hydraulics, 2022, 50(24):8.

Yao BoBo. Design and error analysis of bionic climbing mobile robot in cabin[D]. Northeastern University,2019.

LIU Ling,JIN Wuyin,WANG Hongjian. Research on the design and simulation analysis of autonomous crawling gait of hexapod bionic robot[J]. Mechanical Science and Technology, 2021, 40(12):7.

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Published

11-12-2023

How to Cite

“Research on Bionic Climbing Robot Based on Gait Analysis” (2023) Transactions on Engineering and Technology Research, 1, pp. 48–54. doi:10.62051/8z2y6j26.

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