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- W2289628589 abstract "Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. Most robots that can climb a rough vertical wall are large and heavy due to the large number of actuators required to produce the complex locomotion. This paper proposes a novel design for a small and lightweight climbing robot that uses a single actuator. To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small spines with compliance are modeled based on the pseudo-rigid-body model. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec." @default.
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- W2289628589 date "2015-12-01" @default.
- W2289628589 modified "2023-09-26" @default.
- W2289628589 title "Design of a milli-scale, biomimetic platform for climbing on a rough surface" @default.
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- W2289628589 doi "https://doi.org/10.1109/robio.2015.7419101" @default.
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