The ParkourBot - A dynamic BowLeg climbing robot

Amir Degani*, Siyuan Feng, H. Benjamin Brown, Kevin M. Lynch, Howie Choset, Matthew T. Mason

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to "kick off" the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages795-801
Number of pages7
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Degani, A., Feng, S., Benjamin Brown, H., Lynch, K. M., Choset, H., & Mason, M. T. (2011). The ParkourBot - A dynamic BowLeg climbing robot. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 795-801). [5979937] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979937